Abstract: The application scenarios of intelligent manufacturing tend to be diversified, the performance requirements of man-machine integrated cooperative robot are becoming more and more strict, and the cooperation between robot and human will be closer and closer. In the integrated environment, the friction at the joint of the cooperative robot and the interference term caused by the vibration of the robot end effector cannot be accurately modeled, resulting in errors in the trajectory tracking process of the cooperative robot, followed by a threat to the safety belt of the cooperative personnel. Aiming at the problem of high-precision trajectory tracking of cooperative robot, aiming at restraining the joint chattering of robot and minimizing the pose error of robot end effector, this paper proposes a trajectory tracking control method of cooperative robot based on the fusion of sliding mode control and fuzzy algorithm, and uses fuzzy algorithm to improve the sliding mode control of cooperative robot, The chattering of sliding mode control is reduced. Finally, the simulation and experimental verification are carried out in the simulation environment and the experimental platform of cooperative robot. The results show that this method improves the trajectory tracking accuracy of cooperative robot, has better trajectory tracking effect in terms of convergence speed and tracking accuracy, and better provides a safe and controllable integrated environment for man-machine cooperation.

Key words: cooperative manipulator, trajectory tracking, man machine integration, fuzzy sliding mode control