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In this paper, a stable reinforcement learning control approach using neural networks (NNs) is developed for the trajectory tracking of an n-link rigid robot manipulator. The considered systems are in discrete time form. The proposed controller design consists of two NNs. One is the critic network that is used to approximate the long-term cost function, whereas other is that the action NN is employed to generate the system input. Then, an optimal control input can be obtained compared with other robot manipulator systems. Using the Lyapunov approach, the tracking error and weight estimates are proven to be semi-global uniformly ultimately bounded. A simulation example is employed to illustrate the effectiveness of the proposed controller. [ABSTRACT FROM PUBLISHER]