A construction robot based on virtual reality control comprises a mechanical arm. The mechanical arm comprises a base, a first branch arm and a second branch arm. The first branch arm is hinged to thebase. The second branch arm is hinged to the first branch arm. An actuator is arranged at the tail end of the second branch arm. The first branch arm and the second branch arm are restrained in the same plane and rotate around hinges correspondingly. The hinged portion of the mechanical arm corresponds to the state of a human arm joint. A sensor captures motion position information of the human arm joint and optimizes the captured motion position information through an estimation method of joint motion angles based on H filtering recurrence. The construction robot has the advantagesthat safety of construction operators is guaranteed in dangerous working conditions, and construction operation efficiency is improved; and estimation of the arm joint angle is conducted through H robust filtering, arm motion is captured accurately in real time, the control flexibility and efficiency of large-sized construction machinery are improved, and operation difficulty is lowered.