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An improved algorithm of the SCARA robots control is proposed in this paper,to improve the SCARA robot trajectory tracking control performance.An adaptive fuzzy controller is used to estimate the sliding mode switch gain according to its reaching conditions , eliminating the chattering of output torque in sliding mode control and enhancing its adaptive ability to uncertainties.And another adaptive fuzzy controller is utilized to amend exponential reaching law coefficient, also to improve big torque and speed jump problem caused by a wide range of initial position deviation. The stability is proved in the design process based on the method of Lyapunov, guaranteeing the stability and convergence of the control system. Experimental results show that this method applied to SCARA robots, has a good tracking effect and smooth outputs of torque and speed.