The invention discloses an overhead cleaning robot cleaning system with a similar manual operation mode. The overhead cleaning robot cleaning system with the similar manual operation mode comprises afirst cleaning arm and a second cleaning arm which are installed on a robot body. The tail end of the first cleaning arm is equipped with a first cleaning actuator, and the tail end of the second cleaning arm is equipped with a second cleaning actuator. Each of the first and second cleaning arms has a first revolute pair in which the Z0 direction is used as a rotation axis, a third revolute pair in which the X0 direction is used as the rotation axis, two active degrees of freedom in which the Y0 direction is used as the rotation axis and which are a second rotation axis and a fourth rotation axis, wherein X0, Y0 and Z0 are three axial directions in a Decare three-dimensional coordinate system. The cleaning system has the characteristics of strong adaptive capacity, clean scrubbing, safetyand reliability, and has a self-cleaning function.