Inspired by the aforementioned desired features, in this paper, a new robust FTC strategy is suggested for robot manipulators based on an integration between the ISMC, FLS and DO. First, a FTC scheme based on a ISMC is developed. The efficiency and effectiveness of the ISMC for FTC system is analyzed thoroughly. Then, to compensate for the limitations of the ISMC, an adaptive FLS and a DO are developed and integrated into the ISMC. Since the effects of the uncertainties and disturbances are mostly compensated by the adaptive FLS and DO, the chattering generated by the ISMC is significantly reduced, and thus the performance of the system is massively increased. In addition, in order to further reduce the chattering and at the same time improve the tracking precision, an adaptive two-layer super-twisting algorithm [29], [30] is developed as a switching term of the ISMC. The nominal controller of the ISMC is reconstructed using backstepping control technique so that the stability of the nominal system can be guaranteed based on Lyapunov criteria. Finally, computer simulation is carried out based on a PUMA560 robot to test the merit features of the proposed approach. The simulation results for this example verify the superior performance of the proposed approach when comparing with other state-of-the-art controllers for FTC system. In summary, the major expressive features of the proposed approach can be marked as below: