The invention discloses an embedded type control system based on upper limb exoskeleton assisting robots. Each upper limb exoskeleton assisting robot is mainly composed of two single-arm components same in structure and a back support, and the single-arm components are formed by elbow joints and shoulder joints in sequence from bottom to top. The embedded type control system further comprises an ARM microprocessor module, a DSP microcontroller module, an ARM signal conditioning module, a DSP signal conditioning module, a power module, two operator movement intention detection sensors, four angular displacement sensors and four driving units same in structure. The ARM microprocessor module is connected with the DSP microcontroller module through a CAN bus, and the four driving units are connected with exoskeleton mechanisms and drive the exoskeleton mechanisms to move. The embedded type control system based on the upper limb exoskeleton assisting robots is an exoskeleton assisting robot embedded type control platform which is complete in function and easy to develop and maintain, and has the advantages of being high in real-time response speed, high in real-time multi-task performance, high in driving capacity, low in power dissipation, good in universal expandability, small and the like.