A link position tracking controller is formulated for an n-link, rigid, revolute, serially-connected robot. The controller generates torque commands to the individual robot links based on adaptive estimates of the system parameters and measurements of only link positions. A filtering technique, based on the link position signal, is used to alleviate the need for velocity measurements. A complete development of the controller is presented along with a proof of semiglobal asymptotic link position-velocity tracking performance. Experimental validation of the proposed controller on the Integrated Motion Inc. (IMI) two-link direct drive robot is also presented. Several extensions to the basic controller are described that consider the use of fixed parameter estimates.