Aiming at the influence of uncertain factors such as external disturbances of manipulator and actuator faults on the tracking accuracy of the end contour,an adaptive non-singular terminal sliding mode control method based on cross-coupling was investigated.Based on the robot dynamics model,the non-singular terminal sliding mode controller (NTSMC) of the system was designed by using Lyapunov function;in order to solve the limitation that the design process of sliding mode controller depends on the uncertainty upper bound,an adaptive technique was introduced to estimate the lumped uncertainty of the system,and the chattering phenomenon of sliding mode controller was effectively suppressed;based on the finite time stability theory,the finite time stability of the closed-loop control system was proved.Combining the cross-coupling control technology with the parabolic transition trajectory planning technology,a unified framework of cross-coupling contour compensation and reference position pre-compensation was designed;the influence of system uncertainty on contour tracking accuracy of the end-effector was better reduced by improving the coordination between the various joints of robotic manipulator.The results show that by using the proposed controller,the end-contour of the manipulator can be accurately tracked and the chattering phenomenon of the system can be effectively suppressed.