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Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. However this technique is very essential to have the minimal pain and reduce bleeding but control of these robots/joints are very complicated. This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.