Robot manipulator utilized in several applications such as welding, assembling, painting, grinding, mechanical handling and other industrial applications. These applications require modelling, trajectory generation and control. In robotics research, the accuracy, precision of the manipulator to complete tasks is one of the most important specification and also ensures consistency for many repeated runs. This thesis proposed to address major sources of failures in practical application due to the ideal mathematical model for joint torque control of the robotic manipulator by utilizing integration of Solidworks and MATLAB/SIMULINK. Fuzzy-PID controller is investigated for the three joints of robot arm for trajectory tracking problem to minimize the coupled dynamic effects and ensure the robustness of the system. Lastly. This thesis shows that simulation results that the designed self-tuned PID controller realize a good dynamic behavior of the robot manipulator, a perfect position tracking with less rise and settling time, minimum overshoot, minimum steady state error and give better performance. From the results, it was concluded that joints I, II and III achieved good performance with 0.01381, 0.01364 and 0.01361 rms error respectively.