This paper proposes a novel distributed nonlinear controller for a hyper redundant articulated nimble adaptable trunk robot to track a desired trajectory in the robot’s workspace. The distributed control strategy consists of controlling the last joint by assuming that the remaining joints are stable and follow their desired trajectories. Then, going backward to the (n - 1)th joint, the same strategy is applied, and so on, until the first joint. The proposed control law guarantees the global asymptotical stability of the tracking errors. This global stability is proved using Lyapunov theory. The proposed approach is implemented in real time on a seven degree-of-freedom articulated nimble adaptable trunk robot. Experimental results and a comparison with the computed torque approach show the effectiveness of the approach and good tracking performance in the workspace.