In this paper an adaptive partial state-feedback controller is designed for rigid-link electrically driven (RLED) robot manipulators. The controller is based on structural knowledge of the electromechanical dynamics of the RLED robot and measurements of link position and electrical winding current in each of the brushed DC link actuators. The proposed controller is designed to adapt for parametric uncertainty in the electromechanical dynamics while utilizing a dynamic filter to generate link velocity tracking error information. The controller, adaptation laws, and the pseudovelocity filter are designed via a Lyapunov-like approach, the benefit of which is that at the end of the design procedure the controller can be mathematically shown to produce semiglobal asymptotic link position tracking, The basic design approach can be extended to many types of multiphase motors.