Abstract: In order to solve dynamic control problem of joint type servo robot and to fulfill the desired response re-quirements, this paper proposes an improved new algorithm which relies on the fundamental thought of intelli-gent controler. In aiming at the electro-hydraulic position servo system of a varnish spraying robot we had donecomputer simulation and real time control research using this new algorithm. The effectiveness of this newalgorithm has been proved by our experiment.