The invention discloses a position tracking control method for a two-freedom-degree SCARA robot. According to the control method, in order to solve the problem that it is difficult to achieve fast and accurate position tracking control of the two-freedom-degree SCARA robot through a single method, a coordination control scheme based on Hamiltonian with an end port controlled and backstepping is designed, wherein backstepping control has a main effect at the initial moment so that the system can have good fast performance; and control of the Hamiltonian with the end port controlled has a main effect during the steady state so that the system is made to have good steady state performance. By means of the coordination control scheme, the advantages of each method are made to fully utilized at corresponding time points, and a change of a control type of the scheme makes the position tracking control method have high application value and actual meaning. Simulation and verification show that the method can improve the dynamic performance and the steady state performance of the system, and the interference inhibiting capacity is high.