H∞ control approaches are widely investigated in various application fields and in the robotics area, too, for their robustness properties. However, they are still rarely adopted in the industrial context for the control of robot manipulators, mainly due to the lack of predefined procedures to build weighting functions able to automatically guarantee the fulfillment of the control objectives. This paper reports the first results of an academic–industrial research activity aimed at investigating the adoption of an H∞ approach in the control software architecture of industrial manipulators, equipped with standard sensors on the motor side only. The design of the control system for a single-axis of an industrial manipulator is developed, showing that the construction of the weighting functions according to standard procedures can provide a satisfying behavior only on the motor side, leaving unacceptable oscillations of the link. A different procedure is then developed for the definition of the weighting functions with the specific aim of eliminating the possible vibrations of the mechanical structure. The proposed new form of such functions, including the main dynamic characteristics of the plant, ensures a robust, satisfying behavior on both the motor and the link side, as proven by simulation and experimental results.