Abstarct: This thesis presents an adaptive robust back stepping control method for robot manipulator. Robot manipulators are nonlinear, coupled, complex with uncertainty. Therefore, it is of particular important to control. In this thesis, two new adaptive back stepping control methods with voltage control strategy are presented in the joint space. Advantages of the back stepping method are flexibility to avoid cancellations of nonlinear terms, ensuring the stability and accurate tracking. Thus, adaptive back stepping control can be an appropriate method for overcoming the uncertainty and supporting the nonlinear equation of robot manipulators. Then, the adaptive back stepping Kokotovich controller with voltage control strategy, torque control strategy and adaptive back stepping Kokotovich-slotin controller with voltage control strategy are designed and also tracking performance and stability analysis are presented. The results of this study indicate that the adaptive back stepping Kokotovich controller structure in the voltage control strategy is simple and have a proper performance than the torque control strategy and also performance of two adaptive back stepping Kokotovich and adaptive back stepping Kokotovich-slotin with voltage control strategy are compared in tracking performance, convergence rate of parameters and overcoming uncertainties.