The series hydraulic manipulator model and servo system mathematical model were established. By using the method, the influence of gravity and terminal load of the manipulator on the control system was eliminated, the jitter phenomenon was reduced, and the stability of the system was improved, so the problems such as the delay and instability of the hydraulic valve in the operation process of the series hydraulic manipulator and the system jitter were solved. By combining theory with practice, the designed control algorithm was used to test and identify the parameters and control methods of the hydraulic servo system, so as to solve the problems of jittering and crawling of the hydraulic servo system, and to realize the high precision control of the manipulator.