An adaptive control scheme is proposed to compensate the effects caused by cable-harness disturbance in spatial turntable. The proposed control tactics applied feedforward compensation method which is based on a PD structure and estimated value of the disturbance. Firstly, the estimation is given by a radial basis function(RBF) neural network with adaptive algorithm. Then, a control scheme is designed and the stability of system has been proved by Lyapunov theory. Finally, the simulation results demonstrate that the proposed control scheme effectively eliminated cable-harness disturbance. © 2018 IEEE.