This paper presents a novel global nonsingular terminal sliding mode control (GNTSMC) strategy for robotic manipulators with uncertain perturbations. The proposed control method integrates an adaptive super-twisting algorithm (STA) to achieve robust tracking performance and finite-time convergence. A new global nonsingular terminal sliding manifold is designed to eliminate the reaching stage, ensuring strong robustness throughout the response and finite-time convergence of the trajectory error to the origin. The adaptive STA suppresses chattering without degrading tracking accuracy and does not require prior information of perturbations. The finite-time stability of the system is analyzed, and simulation results on a two-link manipulator demonstrate the effectiveness of the proposed GNTSMC compared to adaptive nonsingular fast terminal sliding mode control (NFTSMC). The GNTSMC exhibits faster response, better chattering attenuation, and improved tracking performance.This paper presents a novel global nonsingular terminal sliding mode control (GNTSMC) strategy for robotic manipulators with uncertain perturbations. The proposed control method integrates an adaptive super-twisting algorithm (STA) to achieve robust tracking performance and finite-time convergence. A new global nonsingular terminal sliding manifold is designed to eliminate the reaching stage, ensuring strong robustness throughout the response and finite-time convergence of the trajectory error to the origin. The adaptive STA suppresses chattering without degrading tracking accuracy and does not require prior information of perturbations. The finite-time stability of the system is analyzed, and simulation results on a two-link manipulator demonstrate the effectiveness of the proposed GNTSMC compared to adaptive nonsingular fast terminal sliding mode control (NFTSMC). The GNTSMC exhibits faster response, better chattering attenuation, and improved tracking performance.