A controller, based on sliding mode control, is proposed for the n-link robotic manipulator pose tracking problem. The point pair (a geometric entity expressed in geometric algebra) is used to represent position and orientation of the end-effector of a manipulator. This permits us to express the direct and differential kinematics of the endeffector of the manipulator in a simple and compact way. For the control, a sliding mode controller is designed with the following properties: robustness against perturbations and parameter variations, finite time convergence, and easy implementation. Finally, the application, of the proposed controller in a 6 DOF robotic manipulator is presented via simulation.Consejo Nacional de Ciencia y Tecnología