Abstract: An adaptive compensation control algorithm for robot manipuators is proposed in the paper,The algorithm estimates parameters on-line and uses the latest estimatesin nonlinear compensation term,The globally asymptotical stability of the system is guaranteed by this algorithm(not based on any approximation).An important practical feature of the algorithm is that it does not require measurements or estimates of the manipulator's joint accelerations.Parameter boundaries of the manipulator are used in the adaptive algorithm to make the controller robust.Simulation results show that the adaptive compensation control algorithm is effective.