Aiming at the problem of low control accuracy caused by disturbance and input saturation in the process of manipulator control, a continuous non-singular fast terminal sliding mode control(CNFTSMC) algorithm is proposed in this article. Firstly, for the input saturation problem, a saturation compensation system is designed to eliminate the input saturation characteristics. Then, in order to avoid the chattering problem of sliding mode control(SMC), a second-order model uncertainty and disturbance estimator(UDE) is designed to estimate the disturbance term. At the same time, an adaptive method is used to control the disturbance estimation error to further improve the tracking accuracy. On this basis, an adaptive CNFTSMC algorithm based on the second-order UDE and input saturation compensation is designed. The Lyapunov function is used to prove the finite-time convergence characteristics of the algorithm. Finally, a 3-degree-of-freedom parallel manipulator is used as the control object to conduct simulation research, and comparison studies are carried out. The results show that the proposed method can achieve accurate finite-time trajectory tracking control considering disturbances and input saturation.