Ahstract- This paper studies the control of a robotic manipulator mounted on an oscillatory base. The system is subjected to bounded uncertainties, particularly those bounded by constants and positive non-decreasing functions. Through manifolds defining the appropriate configuration space, a Lagrangian formulation in terms of global coordinates is constructed, leading to well-defined equations of motion. A nonlinear tracking control law is designed in kind and proven to achieve semi-global asymptotic stability in spite of these disturbances. Proof of the controller performance is demonstrated through simulation.