This article introduces a control scheme with disturbance observer and adaptive dynamic programming algorithm for stable motion of haptic manipulator. To reduce the negative influence of disturbance on the motion of haptic manipulator, a disturbance observer is added to the scheme, and an actor-critic neural network is utilized to approximate the optimal strategy and performance index function, respectively. The proposed scheme is used to cope with problem of model uncertainty and disturbance of the haptic manipulator. The simulation results indicate that the observer’s disturbance estimation is accurate, and the control scheme has excellent tracking performance and robustness.