Abstract: This paper,based on paper〔1〕,proposes two pole assignment self-tuning controlschemes for robotic manipulators by using the separate-joint control technique.Simulation studies and estimations of their on-line computational quanta are presented todemonstrate their effectiveness and simplicity.An efficient implementation scheme issuggested,in which the nominal torques are computed off-line and multiple CPU’s areused for parallel processing of the on-line self-tuning control algorithm.