When a robot manipulator performs fast motion control, high joint torque is required. Moreover, additional joint torque is necessary to suppress disturbance. However, as an actuator can not produce very high joint torque, the saturation on joint torque occurs. This paper proposes a strategy to solve the saturation problem stated above. The two algorithms called the torque limiting algorithm and the reference adjusting algorithm are introduced. The torque limiting algorithm is applied in order to prevent the saturation of joint torque. Another algorithm called the path reference adjusting algorithm will suppress the deviation on path tracking caused by the limitation. The effectiveness of the proposed method is confirmed by experimental results of a 2-link planar arm manipulator.