Abstract: An adaptive control scheme for redundant variable geometry truss manipulators is proposed, based on fuzzy neural network in this paper. The fuzzy neural network model is used to identify inverse dynamic model of redundant variable geometry truss manipulators, and conventional feedback controller is applied to compensation of external interference and close-loop control. The simulation calculation for a four-celled tetrahedron based variable geometry truss manipulator is give. The method is proved to have good track accuracy and anti-interference characteristics.