To achieve high-accuracy manipulation in the presence of unknown dynamics and external disturbance, we propose an efficient and robust motion controller (named TvUDE) for robotic manipulators. The controller incorporates a disturbance estimation mechanism that utilizes reformulated robot dynamics and filtering operations to obtain uncertainty and disturbance without requiring measurement of acceleration. Furthermore, we design a time-varying control input gain to enhance the control system's robustness. Finally, we analyze the boundness of the control signal and the stability of the closed-loop system, and conduct a set of experiments on a six-DOF robotic manipulator. The experimental results verify the effectiveness of TvUDE in handling internal uncertainty and external static or transient disturbance.

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