Disclosed is a system for performing a control on a micro-robot using a transfer robot. The system includes a magnetic field control unit configured to control a movement of a micro-structure or a micro-robot within a working area according to an output magnetic field, a transfer robot connected to the magnetic field control unit to transfer the working area in space, and a control unit configured to receive position information about the micro-structure or micro-robot and position information about the transfer robot, and transmit a control signal based on the received position information.