Abstarct: The Taylor series system is used adaptively for the robust control of a robotic manipulator in two control plans. In the first design, the Taylor series is used as a lumped uncertainty approximator. For the second design, the Taylor series system plays a controller role. It is attempted to design control schemes by adding a robustifying term ensuring the asymptotic convergence of tracking errors instead of uniformly ultimately boundedness stability. In addition, the structure of indirect adaptive controller without the need for velocity measurements using the voltage control strategy is developed. Furthermore, considering the joints flexibility in robot manipulators, a direct adaptive control approach, which uses the Taylor Series approximator to approximate an ideal controller and the fuzzy approximator to compensate for the approximation error is proposed. The performance of the proposed controllers is simulated and analyzed on the 4-DOF wall-mounted SCARA robot manipulator as a rigid-joint robot and also an articulated robot manipulator as a flexible-joint robotic system in MATLAB software. The simulation results show the effectiveness of the control approaches compared with methods such as a terminal sliding mode control and an adaptive regressor-baxsed controller.