Abstarct: This M.Sc thesis presents the modeling of an Spherical robot manipulator in kinematics and dynamics. Then a robust control design is developed and simulated. The joints of the robot is RRP (Rotational, Rotational, Prismatic). The joints provide three degrees of freedom. To abtain the kinematics we use the Denavit-Hartenberg presentation and to abtain the dynamics the Euler-Lagrange equation has been used. The obtained model is multivariable, nonlinear, coupled and uncertain. To control the robot, a robust nonlinear controller has been designed. The proposed control guarantees the stability of the close-loop system. The performance is very good such that the tracking error is ignoreable. The direct method of lyapounov has been used for stability analysis. Since the uncertainty includes unmodeled dynamics parametric uncertainty and external disturbances. The performance of the controller is important in overcoming the uncertainty. Finally a comparsion between the Spong’s method and the proposed controller is presented.