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对压电陶瓷及驱动器的驱动特性进行了分析研究，采用变速积分PID控制方法得到了满意的控制效果；设计了采用应变片的关节位置检测系统；根据微操作机器人的特点设计了控制系统并对控制特性进行了研究；最后给出了实际控制系统及控制效果和系统实验的结果。
The driving characteristics of piezoelectric ceramic and driver were analyzed and studied, and the control effect was obtained by variable speed integral PID control method. The joint position detection system with strain gauge was designed. The control system was designed according to the characteristics of micromanipulator Control characteristics were studied. Finally, the actual control system and control results and the results of system experiments were given.