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The light robotic manipulators with flexible joint has been widely used,because of the features of light weight, quick response and flexible operation. Aiming at trajectory tracking of flexible-joint robotic manipulator affected by systems dynamic parameter uncertainties,a adaptive motion control algorithm is proposed for flexible-joint robot manipulators based on synovial variable structure control method in this paper. According to the online identification of the system dynamics parameter adaptive control theory, the stability of the closed-loop system is proved by using Lyapunov method. The simulation results show that the control strategy can ensure the manipulator system tracking of the desired trajectory, has better tracking accuracy.