With the rapid development of construction automation, construction robots are gradually applied to building. Tile laying robot can effectively improve the construction quality and efficiency of tile laying construction. In order to improve the quality of robotic tile laying, a control method based on position servo and position impedance is proposed to realize tile laying. Further, in order to improve the full filling rate of robotic tile laying, the robot improves the full reduction rate of tile laying by using the effective vibration of the eccentric vibrator. The experimental results show that the method proposed in this paper can effectively improve the quality of robotic tile laying. The research results have a positive role in promoting the application of robot tile laying technology to engineering and provide a reference for the quality improvement of robotic building construction.