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Via studied the microminiature rescue manipulator’s working principle and requirements of rescue manipulator, the control system of microminiature rescue manipulator is designed. The hardware connection of the system is designed with PC computer as upper computer and ATmega16 SCU as lower computer. The information of instruction transmission, image and joint Angle feedback were transmitted using wireless transmission module; The output signal was processed for making the movement of joints steady using the fuzzy PID algorithm, the accuracy of the motor’s rotation is improved, the error of the system is reduced and the rescue efficiency is also improved. The PC interface of manipulator which can control the manipulator is developed based on VC++. Experiments showed that the response speed t＜1s and steady-state error δ≤0.4° having good dynamic performance.