Abstarct: The aim of this paper is to develop an appropriate controller for a palletizer robot (ARM-ROBO V01) in the presence of the system`s external disturbances and internal uncertainties. Equations of motion were derived utilizing the Lagrange method. To this end, to implement the desired control strategies on the palletizer robot with 3 degree of freedom and 9 lixnks, Maple 18 was employed to establish robot`s equations. For the controller to be resistant to system`s external disturbances and internal uncertainties, conventional sliding mode controller and high-order super-twisting sliding mode controller were applied. The performance of the controller was simulated using MATLAB-Simulixnk software. Results show the good performance in presence of uncertainties. Equations of motion were derived utilizing the Lagrange method. To this end, to implement Results show the good performance in presence of uncertainties.