The paper is devoted to the problem of compensating the external disturbances while stabilizing the robotic arm in the specified position by controlling motor torques directly. Disturbance in form of the polyharmonic function is of particular interest here. For example, it can represent the hull vibrations or the motion oscillations in case when arm is mounted on the moving platform. The goal is to minimize the control reaction to such disturbance while maintaining the same stabilization properties in order to save the resource of the robot motors. Stabilization of the robot is achieved through the usage of the special multipurpose control structure. It is most useful in case when there is a set of requirements specified for the motion of the plant in different operating modes. The main advantage of such structure is that it can be synthesized step by step moving from one mode to another, so the initial complicated problem is divided into several simpler tasks. Robotic arms have nonlinear mathematical models so in order to use multipurpose regulator here feedback linearization is applied first. The main result of the paper is the synthesis method of the dynamic corrector which is important part of the multipurpose regulator. The efficiency and the corresponding problems of the proposed method are demonstrated by computer model experiments.