AbstractA new repetitive learning controller for motion control of mechanical manipulators undergoing periodic tasks is developed. This controller does not require exact knowledge of the manipulator dynamic structure or its parameters, and is computationally efficient. In addition, no actual joint accelerations or any matrix inversions are needed in the control law. The global asymptotic stability of the ideal and the robust stability of the nonideal control system is proven, taking into account the full nonlinear dynamics of the manipulator. Simulation results of this algorithm applied to a realistic Scara type manipulator, which includes dry friction, pay‐load inertia variations, actuator/sensor noise, and unmodelled dynamics are also presented.