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介绍管接头自动上装机械手微机控制系统结构及工作原理，着重阐述软件的功能与设计方法，提出了一种步进电机控等时间、非对称指数规律最优升降频的新方法。
This paper introduces the structure and working principle of microprocessor controlled system of robot manipulator, and emphatically expounds the function and design method of the manipulator. A new method such as stepping motor control with optimal time - frequency and asymmetrical exponential law is proposed.