When empirical trial and error method or other optimization algorithms are used to adjust the parameters of the robot active disturbance rejection control (ADRC),there are shortcomings such as complex tuning process and tuning result not global optimal.To solve these problems,a parameter tuning method of robot ADRC based on immune particle swarm optimization (IPSO)was proposed.In the method,the immune information processing mechanism of immune algorithm (IA) was introduced into the structure of the particle swarm optimization(PSO),by which the problems of complex and lengthy optimization process of IA and premature falling into local optimization of the PSO were solved,and the parameter tuning of ADRC was realized to find the global optimal solution quickly.Finally,the MATLAB simulation results show that the method improves the response speed and stability of the ADRC,it is suitable for the parameter tuning of the robot ADRC.