The mobile manipulator for measurement and maintenance consists of 2 DOF nonholonomic mobile platform and 5 DOF manipulator.The structure of mobile manipulator was described,and the interaction between mobile platform and manipulator was analyzed.Considering the complicated dynamic model of the mobile manipulator,the strategy of coordinationmotion control for the mobile manipulator was presented.A hierarchical intelligent controller based on neural network was proposed for the coordinated control of the mobile manipulator,which consists of three levels: decisionmaking level,processing level and execution level.Processing level includes two RBF neural network controllers,in which unknown dynamic parameters of mobile platform and manipulator were identified and compensated in closedloop control. Then RBF neural network training was completed by Matlab software.In the end,an experiment of mobile manipulator was accomplished.The experiment and simulation results show that the coordination control is effective and reliable.