Abstract: A new control method is presented in this paper.It combines the advantages of "Computed Torque" method and adaptive method.First,it decouples the robot jointsby carrying out nonlinear feedback and feedforward compensation using completedynamics of robot.Then,discrete model following adaptive controllers are designedfor the obtained linear system of second order with a nonlinear error term.The dis-crete model following adaptive controllers based on Popov hyperstability are used toreduce the errors caused by modelling inaccuracy and load variation.The results ofsimulation experiment show that the performances of the control system meet the ne-eds of speed and accuracy and its robustness is quite strong.