Aiming at the problems of complex control parameters,many servo motors and auxiliary equipment in the operation of a special robot, a robot driving control system was designed. With Schneider PLC and PC as the core framework of hardware, C# language was used to program the software of the host computer, to realize the collective remote control and parameter monitoring of equipment. At the same time, an alarm system was made to ensure the safety of mechanical structure and actuators. In this system, combining PLC and CAN bus, free port communication and common IO,precise control to the executing mechanism was achieved. Ethernet was used to communicate between the host computer and PLC. The experimental results show that the special robot control system has good real-time performance, high accuracy and strong reliability.