Abstract: A method and device for trajectory control of robot manipulators include selecting a trajectory pattern which corresponds to a desired trajectory which the robot manipulator is to follow. The trajectory pattern is in the form of a sinusoidal time function and a selected number of its harmonics. A signal generator generates a sinusoidal time-varying signal and selected harmonic signals. The signals are provided to a trajectory synthesizer and to a constant matrix gain stage. The trajectory synthesizer provides desired position and velocity vector signals, and the constant matrix gain stage provides a feedforward torque vector signal. First and second subtractors subtract actual position and velocity vector signals respectively from the desired position and velocity vector signals. The subtractors provide position and velocity error vector signals.