In order to solve the problem of multi-wire beam programmable interpolation and planting force control in the process of wire harness transplanting, a three-axis manipulator control system is studied based on a series elastic actuator. Firstly, the technological requirements of the multi-wire beam insertion process are analyzed. Secondly, the design scheme of the wire harness planting manipulator is given. Then, a wire harness planting motion controller is developed, which includes the function modules of coordinate system teaching, multi-harness automatic planting programming, planting force control. Finally, using the developed wire harness planting motion controller, the manual and automatic planting force control experiments are performed to verify the feasibility and effectiveness of the designed system.