A two-arm two-finger intelligent Rubik’ s cube robot control system was designed, and the Rubik’s basic restoration command group was optimized by using the system. The new Rubik’ s restoration command group was constructed, by which the execution speed and stability of the intelligent Rubik’ s cube robot could reach a stable balance. The fivesegment S-type acceleration and deceleration curve algorithm was used to control the closedloop stepper motor, and the continuous speed adjustment of the closedloop stepper motor was realized. The experimental results show that by optimizing the Rubik’s basic restoration command group, the steps performed by the Rubik’s cube robot are reduced. Average optimization rate of the new command group reaches 25%, and average time for the overall Rubik’s cube restoration is 13.644 s.