Adaptive controllers are designed for robot manipulator systems that yield robust trajectory in spite of the unwanted effects of external disturbances and fast maneuvering of the manipulator. These controllers are designed with improved convergence rate, and their transient oscillation are reduced considerably. The analyses stem from the model reference adaptive control techniques. In conjunction with this methodology an optimal auxiliary input is introduced to complete our controller designs. These results are extensively applied to a three-joint revolute manipulator to demonstrate their applications.