In view of the poor cleaning effect of the traditional cleaning machine in water conservancy facilities,a cleaning robot driven by hydraulic system was designed for cleaning up the dirt on the trash rack and grab the dirt in front of the trash rack.The 3-DOF tandem structure of the cleaning robot was analyzed,the kinematics was solved by using the geometry methods,and the nonlinear relationships between the hydraulic cylinder of each joint and the end pose were obtained.According to the characteristics of repetitive cleaning process path,the hydraulic servo drive controller was designed.Through the speed feedforward control method,the system could quickly track the planned trajectory;in order to reduce the position error,the position feedback control method was superimposed.The results show that each hydraulic cylinder of the designed cleaning robot has a faster response speed and higher position accuracy.