The invention relates to an upper limb rehabilitation robot control system. An upper computer transmits instructions to an MCU (micro-programmed control unit) module through a Bluetooth/WIFI, the MCUmodule selects different training modes according to the instructions, a voice module identifies unspecific voice, voice signals are acquired and processed and transmitted to the MCU module by the aidof an SPI (serial peripheral interface) communication protocol, a driving module drives a motor to rotate in a controlled manner, so that training actions are completed, electromyography collection of a healthy side of a patient is implemented by an electromyography control module, electromyography signals are extracted, processed and analyzed, actions of the healthy side of the patient map a mechanical arm, movement intentions are identified, and functional compensation and control is achieved. By the aid of various man-machine interaction modes, targeted rehabilitation training effects canbe effectively achieved, joints of the upper limb of the patient can be accurately positioned when the system is used, and tissue damage and pulled muscle caused by misplaced training are avoided. Thecontrol system is small in size, convenient to use, good in training effect and low in manufacturing cost.