If physical parameters are adjusted suitably in the pantagraph-type manipulator, the mathematical model becomes linear so that we can apply a linear controller. However, when the manipulator has an additional mass as an end-effector, the linear controller does not work well because the resultant model becomes nonlinear. In this paper, we propose a simplified adaptive nonlinear robust controller which we can apply to the manipulator, irrespective of the system linearity or nonlinearity. The effectiveness of the controller is illustrated by some simulations.