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An adaptive control algorithm based on fuzzy compensation system is designed to overcome the shortcomings of the existing control algorithms in trajectory control and precision compensation. Firstly, the space dynamic motion process of the manipulator is analyzed in Cartesian space, and the optimal torque value is obtained. The fuzzy control rules are constructed and fuzzy subsets are set. The classical fuzzy theory is optimized, and the variable theory domain thinking is introduced. During the movement of the manipulator, the system will feedback the action trajectory of the end actuator in real time and implement dynamic compensation. Based on the adaptive algorithm, the quadratic optimization of the variable theory domain fuzzy controller is carried out, the fuzzy rules are corrected and the control parameters of the model are corrected, and the control accuracy of the whole manipulator system is improved. The experimental results show that the fuzzy supplementary adaptive control algorithm has great advantages in the Angle control and displacement control accuracy of multi-joint and multi-link manipulator, and the corresponding motion time of each joint and link is only 0.27s and 0.20s.