Abstarct: In this thesis, an adaptive controller for the robot manipulator with flexible-joints is designed to achieve tracking and set point position control. The proposed control rule is baxsed on the voltage control strategy independent of the robot's dynamic model and each joint is controlled individually. This control approach is robust against the uncertainties of the robot model. The proposed adaptive control approach will be implemented for the first time on the flexible-joints robotic arms using voltage control strategy. The stability of the control system is analyzed and guaranteed. Simulation results show the effective performance of the control approach.