Abstract: A learning control system of robots with the parallel control of neural network and PD was presented in this paper. A learning algorithm for analog compound orthogonal neural network was given on the basis of the digital compound orthogonal neural network to obtain a high speed-learning algorithm. The simulation results of the robot manipulator with two joints prove that in the tracking desired path lines of the robot, the control method are superior to the conventional control methods in system responses, tracking accuracy, and robustness. The position tracking control obtains satisfactory effectiveness. The analog neural controller provides a novel approach for uncertain control systems.