This　study　proposes　a　novel　model-free　robot　manipulator　joint　position　and　velocity　tracking　controller　with　a　simple　structure　for　controlling　a　robotic　manipulator　with　human-like　reaching　motion　according　to　human　movement　characteristics.　The　proposed　design　guarantees　the　responses　of　the　tracking　error　within　preset　bounds　using　velocity　feedback.　A　structurally　and　computationally　natural　logarithmic　controller　is　designed　to　achieve　joint　position　and　velocity　tracking　of　a　desired　trajectory　of　a　reaching　motion　profile　with　prescribed　performance　(PP)　bounds.　Simulations　of　a　three-degree-of-freedom　spatial　manipulator　with　the　PP　controller　confirm　the　conclusions　even　in　case　of　typical　input　disturbances.　Results　show　that　the　PP　controller　outperforms　the　traditional　position　and　derivative　(PD)　trajectory　tracking　controller　without　requiring　excessive　control　effort.　The　proposed　controller　that　uses　sole　velocity　feedback　achieves　the　control　objective　with　bell-shaped　joint　velocity　profiles　and　joint　consistency.　Thus,　the　proposed　controller　outperforms　the　traditional　PD　trajectory　tracking　controller　that　uses　position　and　velocity　feedback　with　comparable　control　effort.　The　experiment　with　a　KUKA　robot　manipulator　demonstrates　that　the　control　algorithm　of　sole　velocity　feedback　can　be　used　to　achieve　smooth　reaching　movements　within　a　short　travelling　time　of　less　than　1　s.　The　movements　are　characterised　by　bell-shaped　joint　velocity　profiles　and　joint　position　consistency　similar　to　human　movements.　©　2019,　International　Association　of　Engineers.　All　rights　reserved.