In order to realize a high-precision end trajectory tracking control of lower limb rehabilitation robots in the process of rehabilitation training, we propose a robust adaptive control method based on iterative learning with advanced sampling time. The iterative algorithm with advanced sampling time  uses the torque output of the hip and knee joint of the previous running batch at the sampling time  t+Δ，and optimizes the adjustment of the joint torque at the next running time t. Simulation results show that with the help of the iterative control with advanced sampling time, the end trajectory error has faster convergence speed, higher tracking accuracy, and better anti-interference performance.