Abstract: With the digital development of modern industry, robotics and other control technologies are valued and developed rapidly, of which the robot arm as the core component of the trajectory tracking control is particularly important, permanent magnet synchronous motor (PMSM) with fast, accurate and stable servo positioning function, gradually become the carrier of the robot arm.Since the traditional servo position positioning control is difficult to meet the requirements of high position accuracy and strong anti-disturbance ability of the manipulator, there are also many adjustment parameters and the disadvantages of uncontrollable speed. To solve these problems, this paper proposes a self-anti-disturbance backstepping control method for PMSM specified position-velocity tracking with load estimation. The method reduces the number of control parameters, increases the amount of speed control, enhances the adaptability of the control system to changes in the internal parameters of the motor, and at the same time allows for rapid adjustment according to changes in the mass of the robot arm, improving the flexibility and reliability of position control. Through simulation and experimental results, it is verified that the proposed method has good position positioning ability and anti-interference ability under the condition that the motion trajectory of the manipulator is fixed or fixed, which verifies the effectiveness and feasibility of the proposed strategy.