The space deployment arm is a new type of multi-joints space structure for performing satellite functions. With the increasing number of space missions, the space deployment arm structure is becoming more and more complex. In this paper, the overall architecture is designed according to the overall design principles and technical indicators of the system, and the system is divided into several sub-modules, in which the measurement module acquires the space pose data of the deployment arm joints, the software control module is responsible for the overall scheduling, and the parallel execution module carries out the posture adjustment movement. After completion, the measurement module feeds the information back to the software control module to realize the closed-loop control of posture adjustment. In addition, to ensure that the deployment arm joints are not affected by external forces during the posture adjustment process, a six-dimensional force detection module is designed, and a compensation algorithm is designed for joints gravity errors.