In order to further explore and improve the joint control effect of manipulator,a joint control model of micro manipulator based on laser ranging is proposed,which senses the surrounding environment of the micro manipulator through the laser ranging technology and scans the data points at the same time,all data point sets are subjected to line segmentation,fitting and other related operations to obtain a two dimensional environment map. Based on the above,the forward kinematics model of the micro manipulator is obtained through the coordinate transformation matrix,and the inverse kinematics model of the manipulator is obtained by using the forward kinematics model. The obtained dynamic model is transformed into the form of affine nonlinear system,the appropriate state transformation and feedback transformation are selected by the input output feedback linearization method,the joint control model of micro manipulator is constructed by the synovial control method,and the model is used for joint control. The simulation results show that the proposed model can obtain ideal joint control results of micro manipulator.