This paper deals with the hierarchical control of a class of robot manipulators. A two-level hierarchical control concept for robot manipulators is proposed. The controller is formulated based on a deterministic approach. In synthesizing the controller, it is assumed that the upper bounds on the nonlinearities, couplings and uncertainties present in the system are available. It is shown through computer simulations that the proposed control strategy is capable of withstanding the expected variations and uncertainties in the system, and will render the robot manipulator able to track a prescribed trajectory to within a small ultimate boundedness set.