In this article, the development and implementation of a fuzzy logic system as position control tool of each one of the joints in a PUMA robot is shown.A general description, which include general descriptions about the robot as workspace and therefore the development of the strategy of control with the definition of the rules in the fuzzification process is also included.Finally are shown the development and simulation of the controller using the fuzzy control toolbox of Matlab and the description of a implementation in a PLC.