This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurements, a linear filter and a new prediction error formulation are designed. The controller provides semi-global asymptotic link position tracking performance. Experimental results illustrate that the proposed controller provides improved link position tracking error transient performance and faster parameter estimate convergence in comparsion to the same controller using a gradient update law.