Aiming at the problems of uncertainty,low trajectory tracking accuracy and vibration of the flexible-joint robot,an improved fuzzy adaptive compensator based PD control method was proposed.It was improved on the basis of the original fuzzy adaptive control and PD control.The improved fuzzy adaptive control was used to compensate the PD control and improve the accuracy of joint trajectory tracking under the condition of uncertainty and suppress vibration.Through Lyapunov function,the stability of the system was proved.The simulation results show that the new controller has good adaptive ability.Compared with the traditional PD control and fuzzy adaptive control,the new control strategy significantly improves the trajectory tracking accuracy of the joint and suppresses the joint vibration to a certain extent.