An uncertainty estimation and compensation can improve the performance of control systems due to structured and unstructured uncertainty. This paper presents a robust task-space control approach using an adaptive Taylor series uncertainty estimator for electrically driven robot manipulators. It is worth noting that not only the lumped uncertainty is estimated and employed in the indirect form of robust controller, but also the upper bound of approximation error is estimated to form a robustifying term and the asymptotic convergence of tracking error and its time derivative are proven based on stability analysis. Finally, the effectiveness of the proposed controller is shown through simulation and comparison with two valuable control schemes applied on the Selective Compliance Assembly Robot Arm (SCARA) robot manipulator.