Refer to this research, a Gradient Descent optimization methodology for position Fuzzy-model based Computed Torque Controller (GDFCTC) is proposed for highly nonlinear continuum robot manipulator. The main problem of the pure Computed Torque Controller (CTC) was equivalent problem in uncertain systems. The simulation results exhibit that the CTC works well in certain system. To eliminate the continuum robot manipulator system's dynamic; Mamdani fuzzy inference system is design and applied to CTC. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters.