Abstract: Based on the theory of Lyapunov's direct method,this paper proposes a new adaptive robotmanipulator control method.This method takes account of the errors between real parameters of themanipulators and estimated values of them which are ignored in conventional computed-torque approach.Morever fast changes in system parameters,when the robot moves at a high speed,are also considered inderiving the law.The method proposed assurcs the asymptotic stability of the closed-loop system of themanipulator.The control law can be used directly without prior knowledge of system parameters or as acompensator for the classical computed-torque scheme.This paper also presents simulations to illustratethe approach.