This paper presents an integral variable structure control (IVSC) method and applies it to robotic systems. The aim of IVSC is to achieve accurate servo-tracking in the presence of load variations and nonlinear dynamic interconnections. The IVSC approach comprises an integral controller for getting a zero steady-state error under step input and a variable structure controller (VSC) for achieving and enhancing robustness. A procedure is presented by which the control function is selected so that the existence of a sliding mode is guaranteed. The integral control gain is selected such that in overall the IVSC has the desired features. The chattering problem is overcome through the use of a modified proper smoothening function. Simulation results carried out on the PUMA 560 robot demonstrate the potential of the method.