This paper addresses the operational space motion control-trajectory tracking-of robot manipulators endowed with joint velocity feedback inner loops. A general structure for model-based joint velocity controllers is proposed for the inner loop. The required joint velocity reference is provided by an outer loop inspired from the robot kinematic control approach. It is shown that above two-loops control schemes lead to a nice cascade structure for the corresponding closed-loop systems. A stability result adapted for analysis of this particular kind of systems is developed in the paper; sufficient conditions for global exponential stability of this class of cascade systems are obtained. The effectiveness of the proposed control approach is evaluated on a direct-drive mechanical arm, and compared with a typical control strategy based on inverse kinematics resolution for computation of the desired motion in joint space, and the use of the computed-torque technique. The experimental evidences show better performance of the proposed two-loops controller. (C) 2005 Published by Elsevier Ltd.