In recent years, composite materials have been widely used in complex structural parts instead of metal materials. Aiming at the problem of unstable braiding angle caused by the mandrel when radius of the mandrel changes in the braiding process of special-shaped preforms, this paper proposes a control method for the take-up speed of the robot. Firstly, the special-shaped structure mandrel is discretized to obtain the radius of each segment, and then optimize the take-up speed of the robot, so that the adjustment of the braiding angle can be realized and the relationship between the advancing distance and the actual braiding length can be got. Finally, the braiding length is compensated by the second advance of the robot, and the next segment of the mandrel is braided based on the dynamic convergence length. The experimental results show that the control method can effectively reduce the braiding angle error of the special-shaped structure mandrel and keep it within ± 3°, which is of great significance for the strict control of the braiding angle in actual production and the braiding of mandrels with arbitrary curvature.