Abstract: It is difficult to track and control the vibration of inspection robot because of its flexible operation

space. In order to ensure the high efficiency and accuracy of the inspection robot，the position and posture servo

control strategy based on finite difference method was proposed. The dynamic model of position and posture servo

system of inspection robot was constructed，and the position and posture servo controller based on finite difference method was designed. The servo control of position and posture of inspection robot was realized by implementing joint track and vibration control of inspection robot. The experimental results show that the joint angle of the inspection robot is within 0.2 s to track the joint position command，and the robot's response speed is fast. The output torque of different joints is stable and the vibration of joints is very weak. The inspection robot can complete the control command with a small range of energy and posture in simple and complex inspection environment.

      Key words: finite difference method；inspection robot；position and posture servo control；dynamic model；

track tracking；vibration control