Abstract <p>Aiming at the problems of large trajectory offset, low trajectory tracking control accuracy and long control time in the traditional trajectory tracking control algorithm of robot bionic manipulator, a trajectory tracking control algorithm of robot bionic manipulator based on RBF neural network is proposed. Through the position description and orientation description of the robot bionic manipulator in space, the spatial coordinate transformation of the manipulator is carried out. Using the Lagrange method, the dynamic model is constructed through the kinetic energy and potential energy of the robot bionic manipulator. On this basis, the trajectory of the manipulator is tracked and controlled through the designed RBF neural network controller. The simulation results show that the trajectory of the robot bionic manipulator controlled by the proposed algorithm is consistent with the theoretical control trajectory, and the trajectory tracking control accuracy is high and the control time is short.</p>