Abstract: In this paper, we propose an adaptive control scheme, based on the Lyapunov stability theory, for a manipulator in cases characterized by uncertainties such as friction and disturbance, which cause difficulties in the manipulator's tracking control. First, we compute the torque controller based on the nominal value of the manipulator. Next, we propose a fuzzy compensator to track friction. Then, we design a feedback controller based on the upper bound of the random perturbation to guarantee the system's stability. The simulation results for the robot manipulator's trajectory tracking in cases with uncertain friction and perturbation demonstrate the validity of the proposed compound control strategy.