the paper firstly designs dynamics model of a 6-DOF vertical multi-joint robot and simplifies it, aiming at the existing algorithms PID path tracking control, the paper put forward two new algorithms based on the analysis of the variable structure control: fast variable structure control algorithm and adaptive fuzzy variable structure control algorithm. The fast variable structure control algorithm can improve the control effect by optimizing the reaching movement. By introducing adaptive processing and fuzziness into reaching law of traditional variable structure control, the reaching motion is improved during sliding mode process. The results show that the two algorithms can not only improve response rate, but also ensure the accuracy of trajectory tracking, as well as the advantages of simple structure, high robustness and adaptability.