Abstract: This paper presents a hierarchically coodinated control scheme, possessing an adaptive feature, used in a robotviewed as a large-scale system. The method, on one side, can compensate the errors brought about due to themodelling inaccuracy of the robot and due to the fact that the load is unknow, and on the other side, it realizes theparallel control algoirthm, thus it provides an approach to online robot control research. An example given in thefinal part of the paper shows that the scheme is feasible.