The problem of controlling a robot can be formulated as finding the time history of the generalized forces (forces or torques) to be provided by the actuators, so as to guarantee execution of the commanded task while satisfying given transient and steady-state requirements. The task may regard either the execution of specified motions for a robot operating in free space or the execution of specified motions and contact forces for a robot that physically interacts with the environment. In view of problem complexity, the two aspects are treated separately; first, motion control in free space, then control of the interaction with the environment. The problem of motion control of a robot is the topic of this chapter, with specific reference to robot manipulators. A number of joint space control techniques are presented. Independent joint control is introduced, where the single robot joint is controlled independently of the others. The regulation problem is solved by resorting to PID control or to gravity cancellation or compensation. Then, the trajectory tracking problem is solved by resorting to full model-based control, where the dynamic interaction effects between the joints are taken into account via a feedback linearization control. The control based on inverse dynamics is introduced, along with its adaptive control and robust control versions to counteract the effect of model uncertainty. Finally, as a premise for visual and force control problems, task space control schemes are presented both for regulation and trajectory tracking, along with the possibility of exploiting kinematic redundancy.