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The manipulator is an important machine for assisting production and life and has been widely used in various fields. Aiming at the problem that the manipulator control system cannot realize fast and high precision trajectory tracking control when it is disturbed by random and non-linear factors, considering that the data information of the fuzzy system is known and the control variables of the system can be controlled and measured, an adaptive fuzzy control law based on fuzzy compensation is designed by using the approximation characteristics of the fuzzy system. This method can effectively suppress the external disturbance and friction disturbance in the process of manipulator motion, so that it can quickly and accurately track the position and speed of the manipulator. The simulation results of the proposed adaptive robust control method based on fuzzy compensation show that it can well suppress the influence of non-linear factors such as friction, disturbance and load variation, and improve the position tracking accuracy by 64.5% and the speed tracking accuracy by 67.3%.