Robot intelligent system is an important direction for the future development of coal mine. Multi axis hydraulic manipulator system can be used for the handling and grabbing of underground pipelines, supports, explosion-proof equipment and other heavy objects, and can effectively improve the work efficiency, safety and intelligent level in the process of mine construction and maintenance. However, there is little research on relevant control systems, This paper takes the underground multi axis hydraulic manipulator as the research object, selects the i.mx6q four core chip based on cortex-a9 architecture as the main processor, and completes the hardware design of the multi axis manipulator, such as related control circuit, communication interface circuit and peripheral auxiliary circuit; According to the motion control requirements of multi axis manipulator, the kernel architecture transplantation based on Linux embedded operating system is completed, and the application software such as communication processing, sensing signal processing, motion control, motion feedback, I / O control and program upgrade interface of control system are realized; The underground multi axis manipulator control system developed in this paper can realize the actions of underground multi axis manipulator, such as grasping, lifting, stacking and rotation, fill the vacancy of domestic research, and help to improve the intelligent level of coal mine.