Abstract: A robust finite time control method is proposed to solve the problem of long time and low precision in position control of manipulator with vibrational excitation and payload uncertainty. Firstly， the dynamic equation of the manipulator with external disturbance is established by Lagrange method of the second kind. The vibrational excitation of the base is treated as the inertial uncertainty parameter of the system. A finite time controller based on implicit Lyapunov function is designed. Secondly， in combination with the lemma of finite time stability， Lyapunov theory is used to prove the proposed control algorithm can converge and stabilize in finite time， and the calculation flow of the controller is given. Finally， the two-link manipulator arm with based-vibration is taken as the object， set up the experimental equipment and carry out several groups of contrast experiments considering the vibrational excitation and payload uncertainty. The results show that the proposed method can overcome the influence of the vibrational excitation and payload uncertainty and let the controlled member move to the desire position quickly， with better anti-interference and robustness.