Abstract: According to the structural characteristics and high precision motion control of multi-manipulator tooth arrangement robot,and with the combination of the characteristics of software and hardware control,this paper presentnts a high precision motion control scheme based on software for the multi-manipulator tooth arrangement robot.Based on the research on control system of the multi-manipulator tooth arrangement robot,each link influencing the control precision is analyzed,and two software realization methods of presetting timing and real-time timing are presented.Control precision and stability of the two methods are analyzed with test and experiment on tooth arrangement control,and it is concluded that high precision motion control for multi-manipulator tooth arrangement robot can be realized with the real-time software realization method.