This paper investigates the ability of a self-tuning pole-placement regulator to control the position of an industrial manipulator. The coupled, non-linear equations describing manipulator motion are modelled by independent difference equations. The difference equation parameters are estimated using a recursive least squares scheme. Using these estimates the controller iteratively calculates the control signals such that each manipulator joint will behave as a second order system. The poles of the model can be chosen by the designer to reflect the desired specifications. Simulation results demonstrate the effectiveness of this approach for the high speed control of a manipulator.