A new nonlinear PID controller for set point control of robot manipulators is proposed. The controller guarantees global asymptotic stability of the robot dynamics. The stability analysis results show that there is no restriction on the positive value of the integral gain. The controller renders all the gains independent of each other. This means that there is no coupling among the gains. This feature allows adjusting the gains values independently. The performance analysis shows that the value of the integral gain must be high while the derivative gain should be low. The simulation results confirm these facts and show that the proportional gain should be decreased. Contrary to all PID controllers overshoot is found to be avoided by increasing the integral gain and decreasing the derivative gain.