From the control point of view, the loading system represents a dynamic coupling system of multiple variables, nonlinear and complex.It was considered that the two degree of freedom (2-DOF) dynamic model of the loading system based on Lagrange method had the instability and modeling errors in reality.Based on adaptive control method proposed by J E SLOTINE, the Lyapunov function was constructed and an adaptive controller was designed for the analysis of the joint trajectory tracking of position and velocity, and simulated using Matlab.The simulation results show that the joint velocity stability error and position stability error are zero, verifying the effectiveness and practicability of the controller.