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A novel approach is used here to design a nonlinear optimal position control for 2-link RR-robot manipulator by representing the class of nonlinear system into the sequence of linear time varying systems. The solution of linear sequences converge to nonlinear one is based on the local Lipchitz conditions at any compact time. The recursive approximation theory is incorporated with the classical control design technique to compute the optimal position control which is generated from the approximate sequence of linear time varying systems. A case study is presented to demonstrate the effectiveness of proposed scheme for the regulation and servo control of 2-link robot manipulator. Also, it is extended to n-link RR-robot manipulator - the simulation results for 3-link RR-robot manipulator regulation is demonstrated.