This paper presents a novel scheme of controller design for a cross-coupled multi-input multi-output (MIMO) two link robot manipulator (TLRM) system having time varying uncertainties, disturbances, and nonlinearity by employing fuzzy parallel distributed compensation (PDC) type L₁ adaptive controller. The combination of linear consequence-based fuzzy subsystems are utilized to represent the nonlinear TLRM system. The components of L₁ adaptive control framework are also realized by combining linear consequence-based fuzzy systems to incorporate the zone-wise controlling of the TLRM system. A fuzzy PDC control has also been augmented to achieve robust stable transient and steady state performances. The stability of each fuzzy systems as well as the overall proposed control scheme is guaranteed by utilizing fuzzy Lyapunov theory-based analysis. The experimental results demonstrate the usefulness of the proposed control scheme.