Abstract: In order to make the robot adapt to the mine's working environment better, instead of human being performing the task of geological exploration, safety inspection and so on, a mine intelligent robot motion control system is designed. The system consists of hardware system and software system composed of two parts. The hardware system refers to the trailing arm elastic suspension system as a motion control carrier, which includes the mechanical structure and the servo drive system. The software system is mainly based on the servo driver's HD control algorithm using software programming to achieve the robot's motion control. In order to verify the feasibility of robot motion control, the author performed mathematical modeling and MATLAB simulation experiments on the system. In order to test the practicability of the motion control system, the author made a torque check and a speed simulation experiment on the servo motor. The experimental results show that the system has the advantages of simple structure, stable and reliable performance, and is suitable for working applications in the actual mine environment.