An　adaptive　nonsingular　terminal　sliding　mode　control　(ANTSMC)　scheme　for　the　n-link　robot　manipulator　is　presented　in　this　study,　which　can　achieve　faster　convergence　and　higher　precision　tracking　compared　with　the　linear　hyperplane-based　sliding　mode　control.　Novel　adaptive　updating　laws　based　on　the　actual　tracking　error　are　employed　to　online　adjust　the　upper　bound　of　uncertainty,　which　comprehensively　consider　both　the　tracking　performance　and　chattering　eliminating　problem.　The　stability　analysis　of　the　proposed　ANTSMC　is　verified　using　the　Lyapunov　method　with　the　existence　of　the　parameter　uncertainty　and　the　actuator　faults.　Numerical　simulation　studies　the　comparison　of　performance　between　ANTSMC　and　the　conventional　nonsingular　terminal　sliding　mode　control　(NTSMC)　scheme　to　validate　the　advantages　of　the　proposed　control　algorithm.