An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.