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There are attitude errors in the control process of the manipulator. The design of the joint control system of the bridge crane based on the least square method is proposed. The overall structure of the manipulator is designed to achieve the goal of cascading the end pose. A fully driven dexterous hand, including one palm and three fingers, is used to transfer motion and torque in series and parallel with multiple connecting rods. The circuit structure is designed with the help of AT89C51 single chip microcomputer. The least square method is used to construct the response surface model of the manipulator, and the H-D parameter method is used to calculate the pose error between the joints of the end of the manipulator. The detmax algorithm is used to analyze the motion parameters and realize the minimum attitude selection. The data of the manipulator running speed are recorded in the control system platform, and the uniformity control status is obtained according to the operating speed information of the manipulator Control. The experimental results show that the motion fitting degree of the manipulator joint is basically consistent with the actual situation, the system can track the desired position quickly, the response speed is fast, and the error is within the allowable range.