Aiming at the requirement of multi-axis coupling linkage control operation of dualarm nursing robot, a new method based on Beck Hoff TwinCAT3 design PLC control program and electronic gear function to realize multi-degree-of-freedom coupling control was proposed. A set of human-like double-arm care robot was developed. Control system. The improved D-H modeling method was used to establish the mathematical model of the shoulder, elbow and wrist joints of the arms of the nursing robot, and the forward and inverse kinematics analysis was carried out. The inverse kinematics solution was solved according to the set of the end position pose of the arms, and the left and right arms were obtained. The torsion angle of the joints; the communication between the driver, the motor and the controller is completed by using the EtherCAT bus technology, and the PLC motion control program is written based on the host computer software and the relevant function blocks are called. Focusing on the design of the electronic gear function, the coupling angle of the master-slave axis and the electronic gear is designed according to the torsion angle of the six arms of the two arms calculated by inverse kinematics analysis, so that the joint axes can run according to the calculated torsion angle and reach the set position. Through the on-site debugging experiment and the software real-axis monitoring module, the actual running speed and position waveform of each joint axis are obtained. Through the graphical analysis, the arms of the nursing robot can reach the designated position. The experimental results verify the effectiveness of the design of the nursing robot software control system.