Abstarct: In this thesis, an optimized controller using the robust control method for robot manipulator control baxsed on torque controlling approach is designed. The uncertainties include the object’s weight, friction and other dynamic parameters of the robot. The purpose is to design a robust controller to deal with these uncertainties. To this reason, the robust control problem is formulated as an optimal control problem frxamework by minimizing the tracking error and control effort. Simulations demonstrate the good performance of the proposed controller.