This thesis is concentrated on the control aspects and analysis of a typical cylindrical type robot actuated by three stepper motors. In this thesis, the robot configuration is studied. This is followed by kinematics analysis which include the direct and inverse analysis. Based on this, the generation of robot trajectory in joint and Cartesian space are investigated. Then, the models of the typical robot arm are derived in detail using Lagrange Euler approach. In addition, the robot actuators models (stepper motor) are also derived. Thus, integrated robot model can be developed. The control algorithms of robot are the investigated and designed which include P-D control, decentralized control and adaptive self tuning control. In addition the effectiveness of these control algorithms is tested by performing several computer simulations. Finally, the real time control strategies of these control methods are discussed and some suggestions are made.