Control of industrial manipulator is considered as complex and challenging control and maintains the torque within the specified limit is again a problem .This paper deals with an application of Genetic Algorithm (GA) for minimization of torque and precise position tracking of robot manipulator. The Genetic Algorithm is simultaneously applied for torque minimization and tracking control. This Genetic Algorithm can be used in the robot manipulator with disturbances. The Genetic Algorithm can be used with the PD controller and computed torque controller. Finally the output of the conventional controller is compared against with controller with Genetic Algorithm. The proposed results shows the genetic algorithm based controller is proven to be best when compared to the conventional controller.