The invention discloses a manipulator control system, comprising a PLC (Programmable Logic Controller), a control board, a solenoid valve and a position sensor, wherein the PLC is arranged in a manipulator control console, the control board is arranged on the control console, air pressure is controlled by the solenoid valve to realize the horizontal motion of a vertical pneumatic device and the horizontal motion of a horizontal pneumatic device, suction and release of a manipulator vacuum cup are controlled by the solenoid valve, and the position sensor is used for detecting the positions of a workpiece and a manipulator feed plate. Through the way, the manipulator control system disclosed by the invention is high in efficiency, flexible in use and low in program maintenance cost, and the stamping automatic production is realized.