This paper proposes an adaptive fuzzy sliding mode controller (AFSMC) for robotic manipulators. An adaptive single-input single-output (SISO) fuzzy system is applied to calculate each element of the gain vector in a sliding mode controller. The adaptive law is designed based on the Lyapunov method. Mathematical proof for the stability and the convergence of the system is presented. The simulation of the AFSMC is given for a two-link robotic manipulator. The simulation results demonstrate that the chattering and the steady state errors in the sliding surface, which usually occur in the classical sliding mode control, are eliminated and satisfactory trajectory tracking is achieved.