In order to precisely control the trajectory of painting robots, the inverse kinematic solution of D-H method is used. The robot navigation positioning solutions were obtained. Through the range conversion and pulse-digital conversion, and the operative position checksum, implement real time monitoring and feedback control, an adaptive robot motion control strategy was proposed. The stl language was used to implement the robot of waist, shoulder, elbow adaptive motion control, enabling precise operation of the robot. With the computer and touch screen integrated with the motion control system, the spray robot of digital, intelligent platform was set up. The motion control system is applied to the practical production, which verifies the high effectiveness and stability of the robot motion control system, and can be well applied to spray work.