AbstractNonlinear feedback controlalgorithms for manipulators utilize a complete (coupled and nonlinear) dynamic robot model to decouple the robot joints. In the companion article1we outlined the practical problems introduced by modeling inaccuracies, unmodeled dynamics and parameter errors. We then introduced the α‐computed‐torquenonlinear feedback control algorithm which isrobustin the presence of the aforementioned error sources. In this article, we apply the insight gained from the α‐computed‐torque algorithm to design a robust discrete‐time (accelerometer‐free) computed‐torque robot‐control algorithm founded upon our discrete dynamic robot model.2Numerical experiments with the cylindrical robot confirm both the robust disturbance rejection characteristics and the practical applicability of our discrete‐time computer‐tor