Abstract: The application of a cathode plate transfer robot on the automatic zinc-stripping machine can effectively reduce the physical strain on workers in zinc smelting enterprises and enhance the level of automation and intelligence within the enterprise. Due to limited operational space, it is necessary to conduct research into the precise tracking of the cathode plate transfer robot’s operational trajectory in order to avoid issues such as jamming or incorrect positioning caused by deviations during cathode plate transport. This paper takes the cathode plate transfer robot of the automatic zinc-stripping machine as its research subject, designing model predictive control and sliding mode control strategies with the aim of improving the performance and efficiency of cathode plate transfer operations. The study indicates that, under the preset trajectory, both controllers demonstrate good control performance. Significant tracking errors are primarily concentrated during the start-up and turning phases, where acceleration changes abruptly and the load inertia is substantial. Due to the inherent characteristics of sliding mode control, the tracking response deteriorates somewhat during these phases. In contrast, thanks to the theoretical advantages of model predictive control, the overall tracking performance of the system is further improved. This study provides theoretical references and engineering value for the operational control of transfer robots.