This chapter deals with nonlinear $${\mathcal{H}}_{\infty}$$ control methodologies for robot manipulators. The nonlinear $${\mathcal{H}}_{\infty}$$ control considered guarantees an appropriate attenuation of the torque disturbance effect on the joint positions. We deal with two fundamental approaches for this class of controllers; the first is based on game theory and the second is based on linear parameter-varying (LPV) techniques. We provide solutions based on state and output feedback controls.