A mobile robot is developed, which contains a chassis and a body with two swing arms in two degree of freedom (2-DOF) and a 2-DOF head, and the motion control of the robot was implemented by using digital signal processor (DSP) as the core control chip. The overall framework and the software/hardware configuration of the motion control system of the robot were discussed in detail, and the control method as well as the software structure of the system was investigated. Moreover, the main program, chip initialization/port application and interrupt program were emphasized in description. Finally, an experiment was carried out. The results show that the developed DSP-based control system meets the motion control requirements of mobile robot well.