In view of the difficult situation of Kirkpatrick-Baez (KB) high-resolution micro-control in high-energy plasma X-ray diagnosis,a new method of realizing high-resolution micro-control based on Denauit-Hartenbery (DH) coordinate system is proposed.In this structure,the front and rear lenses of the KB microscope are used as the rigid manipulator with double 5 degrees of freedom(DOF) respectively to realize the control of the double 5-DOF.The new method is modeled theoretically and the kinematic equations of each linkage coordinate system and structure of the two manipulators are analyzed.The optical system of the double 5-DOF manipulator is built,and the proposed KB mirror control method is verified by experiments.The experimental results show that the double 5-DOF manipulator designed can realize the precise control of the KB mirror and obtain high precision resolution imaging effect.