Abstract: Trajectory tracking problem of uncertain robot manipulators with PD+ feedforward control structrure is dealt with in this paper. In the absence of friction and disturbances, a new class of globally asymptotically stable adaptive control strategies are proposed. In the presence of friction and disturbances, two novel robust adaptive hybrid control methods are developed, which can not only warrant global stability of closed-loop system but also give clear transient description of the whole system. Strict theorem proofs and simulations of a two-degrees-of -freedom robot are given to show the validity of proposed controllers.