This paper presents a simple and robust non inversion-based perfect tracking control(RNIBPTC) strategy for robot manipulators. The proposed approach is capable to eliminate the environmental problems arising from classic feedforward control design and so guarantees an appropriate level of robustness of control system to uncertainties including external disturbances, unmodeled dynamics, friction force and variation of payload. Extensive simulation results performed using a two degree-of-freedom actuated elbow robot prove the effectiveness of the proposed approach. The results are also compared to those obtained from Internal Model Control approach. Using free model of system in control law design is a considerable point in the field of robot manipulator control.