In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in comparing with the conventional ANFIS structures. The error convergence could not be proved in the ordinary ANFIS structures. But in the proposed method, the error convergence of the robot manipulator can be established under considering some mathematical conditions. The proposed control law is realized via parallel combination of ordinary ANFIS network and PID controller. The suggested method has been successfully applied in a 6-DOF robot manipulator system. Furthermore, in presence of uncertainties and external disturbances error convergence would be justified using the Lyapunov-like theorem and Barbalat lemma.