This paper shows that fuzzy control systems satisfying sectorial properties are effective for motion tracking control of robot manipulators. We propose a controller whose structure is composed by a sectorial fuzzy controller plus a full non--linear robot dynamics compensation, in such a way that this structure leads to a very simple closed--loop system represented by an autonomous non--linear differential equation. We demonstrate via Lyapunov theory, that the closed--loop system is globally asymptotically stable. Experimental results show the performance of the proposed controller.