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Aiming at emergency robot dealing with toxic gas leakage accidents in oil and gas stations, a wireless control system for manipulator based on DSP and AR9331 modules is designed. The system uses 6 servos cooperating with the metal bracket to build the hardware structure of the manipulator. It uses the TMS320F28335 DSP as the core processor and uses its ePWM module to drive the servos. At the same time, the AR9331 WiFi module and the SCI module of the DSP realize the Wireless communication between the DSP and the host computer. Thus the entire construction of the wireless control system is completed. During the experiment, the host computer sends various control commands to the DSP through the wireless communication module to coordinated control each servo, so as to control the manipulator to clean up obstacles, open and close the valve and other emergency handling operations, verifying the feasibility of the wireless control system. Experimental results show that the manipulator wireless control system has high control accuracy, fast adjustment speed, and high reliability. The manipulator can receive and complete instructions within 1s, and the steering gear angle error is within 1°, which meets the operational requirements of emergency robot.