Abstract: This paper has studied the problem of nonlinear feedback control of robot manip-ulators which is based on a higher order linear approximation of nonlinear systems.The dynamics of the robot manipulators is given,the method for a nonlinear systemto be approximated to higher order by the transform of a linear system is obtained.The formulas for calculating the coefficients of higher order terms are derived.Then,the use of this technique in the design of nonlinear feedback control system for therobot manipulators and some numerical simulation results are presented.