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In order to ensure that the robot can perform tasks according to the planned trajectory while maintaining stability, a robust sliding mode tracking control system based on Sigmoid function is designed from both hardware and software aspects. The robot sensors and state observers are installed, the robot robust sliding mode tracking controller is modified, and the system hardware design is completed. The mathematical model of the robot is constructed by integrating three aspects of robot structure, motion mechanism and dynamic mechanism. According to the deviation between the state data acquisition result and the planned trajectory, the robot tracking control quantity is calculated. According to the sliding mode motion and switching equations, the robust sliding mode control law of the robot is generated by using the Sigmoid function, and the generated control instructions are applied to the robot's executive components to achieve the robust sliding mode tracking control function of the system. The experimental results show that the robot motion trajectory of the designed control system basically coincides with the set trajectory target, the robot attitude angle tracking control error is small, and the robot has a good robust sliding mode tracking control effect, which can effectively improve the robot robust sliding mode tracking control accuracy.