This paper presents a new control strategy for position control of robot arm. Mostly rubber actuator arm is used for robots, which is highly nonlinear. In order to achieve the high speed and high accuracy positioning for robot arm, control method based on a Quasi-Linear theory has been proposed. The proposed controller is simple and is able to produce desirable results. For simulations, a linearized robot arm model is used. The system is feedback linearized and the resultant dynamics of the linearized system create the application of a simpler order feedback control designed on the basis of quasi-linear feedback theory. Under this design, the pole of the lead lag compensator depends on the gain of open loop system. It shows that good performance can be obtained with a reduced control effort. The controller requires only the output measurement as compared to some other well known control approaches. The proposed controller not only guarantees fast tracking of the desired trajectories, but also ensures the safety. The simulation results show that the new strategy yield suitable results.