Abstract A new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.