Collaborative robot trajectory tracking control method and system

The invention discloses a trajectory tracking control method and system for a collaborative robot. The method comprises the steps that an n-degree-of-freedom collaborative robot joint space dynamic model is established, and an expression of joint tracking errors is established; establishing a sliding mode surface of the sliding mode controller; deducing a robust control rate of the collaborative robot based on sliding mode control; establishing an expression of a parameter vector error needing to be updated; deriving a self-adaptive fuzzy control rate based on a sliding mode controller; establishing an expression of an external load observation error; and deriving a nonlinear state observer based on an external responsible observation error. According to the method, the sliding mode controller and the nonlinear state observer are combined to establish the adaptive fuzzy controller with the external disturbance observer, and the trajectory tracking control precision of the collaborative robot is improved on th