In order to solve the problem that the hyper-joint limit and configuration deviation of hexapod serpentine arm robot are large and the control stability of terminal orientation is not good

a fuzzy sliding modebased terminal position control algorithm for hexapod serpentine arm robot is proposed. The kinematics model for a serpentine arm robot is established in the hyper-redundant kinematics inverse solution space. The modified DH parameter method is used to adjust and fuse the terminal position and attitude parameters of a hexapod serpentine arm robot. The mechanical control model for the end position and attitude of the serpentine arm robot is established. The outer loop sliding mode admittance control method is used to adjust the adaptive parameters of the terminal position in the end following motion. A sliding mode error feedback adjustment method is used to determine the terminal position of a hexapod serpentine arm robot. The accurate attitude location and parameter calculation of the robot are realized

and the control stability is improved. The simulation results show that the proposed algorithm has good attitude correction performance for the terminal position and attitude control of the hexapod serpentine arm robot

and has a strong adaptive ability to adjust the spatial position and pose of the serpentine arm joint

and the following motion is accurate. It has good stability of position and pose control.