The most control schemes that are applied to the robot manipulator which carries a variable or unknown load and moves along a planned path with fast speed and high precision are not of practical use. The study of robot control is still much nepessary. In this paper, we present a new combination controller for robot manipulator whose dynamic characteristics are highly nonlinear. This controller is composed with three sub-controllers. Those are nonlinear compensator, adaptive controller and variable structure controller. The algorithm of the controller is very simple, audio-visual and reasonable, and it is along with decouple controllers except the part of the nonlinear compensator.
