<p>Robotic manipulators are extensively employed in industrial manufacturing, medical systems, and service automation due to their versatility. However, achieving fast and accurate control performance remains challenging owing to strong nonlinearities, model uncertainties, and external disturbances. Existing control approaches often suffer from limited global fixed-time performance, high computational burden, and poor structural tunability, which restrict their applicability in high-performance robotic tasks. To address these issues, this study proposes a structured non-singular fixed-time terminal sliding mode control strategy for robotic manipulators with unmodeled dynamics and complex disturbances. Rigorous theoretical analysis demonstrates that the proposed controller inherently avoids singularities and ensures global fixed-time stability. In addition, the control scheme is designed with an embedded generalized function that provides structural tunability, enabling a dual-level adjustment mechanism with both parametric and structural flexibility. This dual-level flexibility offers enhanced adaptability for robotic manipulator trajectory tracking tasks, thereby improving the controller’s applicability to diverse and demanding operational scenarios. Simulation and experimental results validate the superior tracking performance, robustness, and practical applicability of the proposed method.</p>