A DECENTRALIZED ADAPTIVE ROBOT MANIPULATOR CONTROL SCHEME IS PRESENTED IN THIS PAPER. THE PROPOSED CONTROLLER HAS A FEEDFORWARD LOOP AND A FEEDBACK LOOP. THE FEEDFORWARD TERM IS COMPUTER-BASED ON THE FULL NONLINEAR DYNAMICS IN WHICH THE DYNAMIC PARAMETERS ARE ESTIMATED ON-LINE TO REJECT ANY UNCERTAINTY THAT MAY ARISE DUE TO THE UNMODELED ROBOT DYNAMICS AND THE CHANGES IN THE PAYLOAD. THE FEEDBACK TERM IS COMPUTED--BASED ON A LINEAR PERTUBATION MODEL GENERATED AROUND THE DESIRED TRAJECTORY. A LINEAR QUADRATIC REGULATOR IS USED IN THIS PATH. AN EXTENDED KALMAN FILTER IS INCORPORATED IN THE FEEDBACK PATH TO FILTER OUT THE MEASUREMENT SENSOR NOISES. THE PROPOSED CONTROL STRUCTURE IS VERIFIED THROUGH DIGITAL COMPUTER SIMULATION OF A 2 DOF PLANAR MANIPULATOR.