This paper presents a robust multi-input/multi-output (MIMO) terminal sliding mode control scheme for rigid robotic manipulators. The control scheme is designed to ensure that the output tracking error converges to zero in finite time and provides strong robustness against large uncertain dynamics. A key innovation is the definition of an MIMO terminal switching plane variable vector, which allows the system error dynamics to be driven to the terminal sliding mode in finite time. Unlike conventional linear sliding mode control, the terminal sliding mode controller in this scheme has a significantly reduced gain, making it more practical for real-world applications. The control law is designed to ensure that the switching plane variables reach the terminal sliding mode in finite time, leading to finite-time convergence of the output tracking error. The paper also discusses the stability of the error dynamics and the robustness of the control scheme. A simulation example is provided to demonstrate the effectiveness of the proposed control scheme. The results show that the control scheme effectively eliminates system uncertainties and achieves good tracking performance. The paper concludes that the proposed control scheme offers a robust and practical solution for controlling rigid robotic manipulators.This paper presents a robust multi-input/multi-output (MIMO) terminal sliding mode control scheme for rigid robotic manipulators. The control scheme is designed to ensure that the output tracking error converges to zero in finite time and provides strong robustness against large uncertain dynamics. A key innovation is the definition of an MIMO terminal switching plane variable vector, which allows the system error dynamics to be driven to the terminal sliding mode in finite time. Unlike conventional linear sliding mode control, the terminal sliding mode controller in this scheme has a significantly reduced gain, making it more practical for real-world applications. The control law is designed to ensure that the switching plane variables reach the terminal sliding mode in finite time, leading to finite-time convergence of the output tracking error. The paper also discusses the stability of the error dynamics and the robustness of the control scheme. A simulation example is provided to demonstrate the effectiveness of the proposed control scheme. The results show that the control scheme effectively eliminates system uncertainties and achieves good tracking performance. The paper concludes that the proposed control scheme offers a robust and practical solution for controlling rigid robotic manipulators.