Some control schemes for complex nonlinear systems have been developed recently and the robotic adaptive control is one of the typical examples. Due to the inevitable presence of unmodeled dynamics,if the adaptive control technique combined with nonlinear model-based control takes full advantages over any known parametric model while dealing with the remaining unknown parameters by using adaptive control,it may be an efficient control strategy, therefore.an algorithm of computed torque-self tuning control for robot is presented, whose simulation results have proved its effectiveness.