Abstract: The complete set of bolt and nut assembly robots are affected by external electromagnetic wave disturbances and internal component cooperative disturbances during operation, resulting in unstable control signal reception and slow assembly speed, making it impossible to achieve precise assembly. To improve the production efficiency and product quality of bolt and nut assembly, a complete set of bolt and nut assembly robot self disturbance rejection control method based on PLC technology is proposed. Firstly, the structure of the complete set of bolt and nut assembly robots is analyzed and kinematic modeling is conducted. Then, combined with PLC technology and based on the robot operation model, a self disturbance rejection controller is designed. Finally, combining PLC technology, an active disturbance rejection controller is integrated into the controller to design a complete set of bolt and nut assembly robot control processes, achieving precise bolt and nut assembly operations. The experimental results show that the application of a complete set of bolt and nut assembly robot self disturbance control method based on PLC technology can significantly improve the robot's motion performance and assembly accuracy, enhance the robot's anti-interference ability, and have greater application value.