Abstract: Aiming at the problems of low control precision and poor control timeliness in the current soccer robot angle control software, a soccer robot angle optimal control software is designed. According to the isobaric effect of soccer robot, the output torque of robot joint is determined, the dynamic equation of robot joint is constructed, and the angle control of robot joint is realized. The Jacobian matrix of the center of mass is introduced to determine the robot joint angle control correction. According to the correction quantity, the results of the soccer robot joint angle control are optimized to realize the soccer robot angle optimal control. The experimental results show that the designed software is accurate for the angle control of soccer robot. Higher, and the timeliness of control is better.