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Aiming at the problem that the current trajectory tracking control method of flexible joint space manipulator ignores the change of manipulator driving force under the influence of different gravity, resulting in poor trajectory tracking control effect of flexible joint space manipulator, a trajectory tracking control method of flexible joint space manipulator based on PMSM drive is proposed. Based on the PMSM driving mathematical model, the PMSM vector control method is used to analyze the driving torque vector. According to the analysis results of driving torque vector, the driving torque with and without friction in different gravity environments is analyzed. The flexible joint model is constructed, the gravity release problem encountered in different gravity environments is analyzed, and the adaptive inverse synovial control method is used to design the control rate to ensure that the manipulator can move in the given direction and make the manipulator robust. According to the dynamic characteristics of flexible joint space manipulator, the driving torque based on PMSM in different gravity environments is analyzed, and the gravity term is determined to change accordingly. The controller is designed and the dynamic model is constructed to ensure that the motion trajectory can be tracked to the greatest extent in the space stage. The experimental results show that the end tracking results of x-axis and y-axis are consistent with the actual motion trajectory, and the error is 0. The maximum joint control torque is 0.5N.m when the time is 3s, which shows that the tracking control effect of the proposed method is good.