Robust adaptive tracking control algorithm is proposed in this paper for single link robot arm position control. A model reference adaptive control algorithm is applied to control the angular position of the robot arm by tuning the parameters of the controller. Each parameter of the adaptive controller tuned separately then the controller will reflect the parameters to follow the reference model. The control algorithm was thoroughly tested using the dynamic system modeling
package MatlabSimulink. Comparing with adaptive neural network controller, this technique can provide better angular position control for variable load applications.