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Under the condition that the base of a robot manipulator has motion disturbance, the control of the end-effector target is difficult. In this paper, we show a method for robot control under base motion disturbance and load change with passivity-based adaptive control and to compensate viscous and coulomb friction. We insert target in cartesian space and calculate the inverse kinematics. Then the trajectory planning is generated and sent to the controller for compensation. The method of compensation is computed by geometry of the robot and its base. The simulation result shows that the robot can be controlled to target very well under base motion disturbance and load change.