In view of the shortcomings of large deviation and low efficiency of the existing trajectory control and compensation algorithm for manipulator, a trajectory control and tracking algorithm for manipulator based on RBF-BP was proposed. Based on six degrees of freedom such as spatial movement and rotation of each axis of the manipulator, the model was built to describe the position movement and attitude change of the end of the manipulator, and the moving distance and deflection angle of the vector were calculated. Aiming at the trajectory deviation caused by the system error and friction disturbance of the industrial manipulator, the RBF-BP algorithm was used to locally approximate the optimal control trajectory, and the vector value based on the Gaussian basis function was used to obtain the optimal weight and trajectory output value. The simulation results show that the trajectory controlled by the proposed algorithm is close to the theoretical trajectory, and the coordinate errors of the three axes approach to zero.