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The manipulator is an important part of the multi arm robot. Aiming at the problem that the control system based on attitude recognition and position recognition is affected by the oscillation of the controlled quantity, the control system of the robot arm based on Fuzzy P is proposed. Based on the fuzzy P control system, find the balance point of the system control, design the hardware structure of the system, including three mechanical arms, a total of 18 degrees of freedom, simplify the joint controller connection, select DC brush motor, use incremental encoder, design H-bridge circuit, cooperate with 74act244 enhanced drive circuit, use nRF24L01 wireless module to obtain and process position information. The fuzzy P controller is used to suppress the oscillation of the controlled variables and control the motion of the connecting rod. The experimental results show that the trajectory of the system is basically consistent with the expected trajectory, which can better meet the requirements of accurate positioning for the docking of multi arm robot manipulator.