Abstract: A simple fuzzy sliding mode control was proposed to obtain the optimum movement of a manipulator’s trajectory tracking. The core of the proposed method is to use the feedback linearization method to remove the known kinetics of the manipulator， use the classical sliding mode control to overcome the system uncertainty， and then apply the T-S fuzzy model to translate the classical sliding mode controller into a fuzzy sliding mode controller with very simple fuzzy rules. The simulation results showed that in the case of uncertainty， the proposed control law is globally asymptotically stable. Finally， the co-simulation of the six-axis manipulator by Matlab / Adams verified the accuracy of the model. By comparing the classical sliding mode control result， the proposed method under the conditions of structured and unstructured uncertainties has a high performance.

Key words: six-axis manipulator, sliding mode control, fuzzy control, Lyapunov stability, co-simulation