Robots, ranging from industrial pick-and-place robots to humanoid robots, are increasingly being employed to accomplish activities that humans find tiresome and challenging. Conventionally, they are driven by rotating servomechanism and hydraulic methods. However, nowadays an alternative actuator with compliant behavior, muscle-like properties, and extremely low weights is required for some applications, particularly for medical applications. An interesting alternative to electric actuators for medical purposes is a Pneumatic Artificial Muscles (PAM) actuator. PAM Actuators have a broad application prospect in soft robotics. Nevertheless, PAM has highly nonlinear properties among force, displacement, and pressure, which makes precise position control impossible in the classical fixed gain PID controller which ignores the important phenomena of nonlinearities of pneumatic artificial muscle (PAM) manipulator. It also behaves poorly when operational conditions or environmental parameters change or are unpredictable. Hence, in this thesis, a Self-Tunning Fuzzy PID controller for position trajectory tracking of a two-degree of freedom (2-DOF) Pneumatic Artificial Muscle (PAM) Manipulator is designed enhance the performance of Fixed gain PID controller by adding a fuzzy logic controller which can handle the nonlinearities. The designed fuzzy-PID controller immediately modifies the PID gains in response to the error. The Genetic algorithm optimization technique is used to tune PID gains which are used as initial values of Fuzzy-PID controller and knowledge base for the FLC. The simulation is carried out using MATLAB/Simulink software. According to the simulation result, the Fuzzy-PID controller decreases the overshoot by 6.5% for joint one and by 1.8% for joint two; Similarly, the rise time decreases by 0.0981sec for joint one and decreased by 0.0757 for joint two, the settling time is also decreased by 0.8851sec for joint one and decreased by 1.443sec for joint two, when compared with PID controller. We noticed from the simulation result; the fuzzy-PID controller have a good transient performance, handle nonlinearities; and reject the disturbance and parameter variation. Keywords: PID, PAM, GA-PID, Fuzzy-PID, 2-DOF, Nonlinear PID, muscle-like properties