Aiming at the controlled model of a designed new type of multi- joint robot wrist structure which can be built in ADAMS and used in the MATLAB,the co- simulation with ADAMS and MATLAB is carried out. On the basis of analyzing the dynamics model of new type of robot wrist structure,the control is carried out by using the method of combining computed torque method and slide mode control method,and the method of slide mode variable structure control is improved to eliminate chatter phenomenon existing in the control,the more accurate trajectory tracking effect is got. Lastly,the control effect comparison among PID method,traditional computed torque method,the proposed control method is carried out,and the validty of the proposed control method is verified.