目的 为了提高直角坐标搬运机器人的定位精度，保证机器人能够按照预定路径运动。方法 介绍直角坐标机器人工作原理，并基于模糊控制理论，提出一种基于模糊PID的直角坐标机器人轨迹跟踪控制算法，并将其应用于机器人运动轨迹跟踪控制中。结果 仿真和实验结果表明，基于模糊PID的机器人控制器能够保证机器人沿预定路径运动，机器人轨迹跟踪误差能够很快收敛于0附近，该轨迹跟踪方法具有较好的抗干扰性和鲁棒性。结论 所提方法能够明显提高直角坐标机器人的路径跟踪能力，对于提升机器人运动精度具有参考价值。

The work aims to improve the positioning accuracy of the Cartesian coordinate handling robot, and ensure that the robot can move along the predetermined path. The working principle of Cartesian coordinate robot was introduced. Based on fuzzy control theory, a trajectory tracking control algorithm for Cartesian coordinate robot based on fuzzy PID was proposed, and it was applied to the trajectory tracking control of robot. The simulation and experimental results showed that, the robot controller based on fuzzy PID could ensure the motion of the robot along the predetermined path, and the trajectory tracking error of the robot could quickly converge near zero. The proposed trajectory tracking method had better anti-interference ability and robustness. The proposed method can obviously improve the path tracking ability of the Cartesian coordinate robot, and it has reference value for improving the motion precision of the robot.