A multiinput multioutput direct adaptive fuzzy generalized predictive control method for a micromanipulator with flexible joints is presented. First, a generalized predictive controller is designed based on the manipulators theoretical model. Then, in order to increase the robustness for modeling errors, a direct adaptive fuzzy controller is constructed to approximate the generalized predictive controller，and the fuzzy controller parameters as well as the unknown vectors in the generalized error estimation vector are adjusted adaptively by the use of vision error information. It is proved that，when the micromanipulator tracks a time－varying reference trajectory, the proposed controller forces the norm of the generalized error estimation vector to converge to a small neighborhood of the origin，thus the control requirements can be fulfilled. Simulation results demonstrate the effectiveness of this method.