Abstract: For robots, a highly nonlinear and strongly coupled system, this paper first focuses on the design of sliding mode surfaces and sliding mode conditions. A sliding mode variable structure control method is then used to design the sliding mode surface and control law. Stability analysis is performed, and simulation experiments are conducted. The experimental results demonstrate the effectiveness of the proposed method. Keywords : sliding-mode ; variable structure control; robot control 0. Introduction Variable structure control theory, in just a few decades since its inception, has become an important branch of control theory. Variable structure control methods have been widely applied in robot control. The basic idea of ​​variable structure control is to first find a hyperplane in the state space of the error system such that all state trajectories within the hyperplane converge to zero. Then, by continuously switching the controller structure, the state of the error system can reach this hyperplane and slide towards the origin along it. Good robustness is a significant advantage of variable structure control, mainly manifested in the invariance of the sliding mode motion equations to disturbances. As long as a sufficiently large control signal is correctly selected, the sliding mode can be reliably reached under any disturbance, regardless of the initial state from which the state trajectory begins. It is precisely because of this advantage that sliding mode variable structure control can be well applied to robot control. For details, please click: Filter-Based Robot Sliding Mode Control and Simulation