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For the motion control of serpentine locomotion of the snake-like robot, based on the analysis of the constraint on parameter values limit of control function of the joint angle of the mechanical structure, firstly to confirm the control parameter which satisfy the requirement of the mechanical structure. Then build the 3D virtual motion model of the snake robot in Adams environment to simulate the serpentine motion. The parameter adjustment method is proposed through analysis of the impact on the bending, velocity and trajectory offset in this paper. Experiment results show that the effectiveness of this method, thus can implement the optimal control for the serpentine locomotion of the snake-like robot.