Using the timer control method generates a pulse signal servo control. In order to achieve accurate positioning of the movable joints according to the input angle and fine-tune the design by adding a keyboard matrix regulation system. On the hardware structures, the design of hardware STC89C52 2 pulse signal based on the control circuitry. After editing software and debugging tools used by the system provides a brief description, and details the specific process simulation and debugging of hardware and software design and implementation of main modules, as well as important module. Finally, according to software and hardware design results, made a polar coordinate robot joint structure, it can be completed in the horizontal and vertical directions more precise control.

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