The elements of manipulator control include work sequence, arrival position, action time, movement speed, acceleration, and deceleration, etc. The control of the manipulator is divided into two types: point control and continuous trajectory control.

The control system can be designed to adopt digital sequential control according to the requirements of the action. It first needs to compile a program to store, and then according to the prescribed program, control the manipulator to carry out the work program. There are two storage methods: separate storage and centralized storage. Separate storage is to store the information of various control factors in two or more storage devices, such as the sequence information stored in the pinboard, cam drum, Punched Tape, position information stored in the time relay, constant speed rotary, etc. Centralized storage is to store all the information of various control factors in a storage device, such as magnetic tape, magnetic drum, etc. This method is used in the occasions where sequence, position, time, speed, etc. must be controlled at the same time, that is, in the case of continuous control.

Among them, the pinboard is used in the occasions that need to change the program quickly. To change a program, you only need to replace a pinboard, and the same plug can be used repeatedly. the length of the program accommodated by the Punched Tape is not limited. but if an error occurs, all of them must be replaced. the information capacity of the punched card is limited. But it is easy to replace, save, and can be used repeatedly. the magnetic core and magnetic drum are only suitable for occasions with large storage capacity. As for which control element to choose, it is determined according to the complex program and precise program of the action. For manipulators with complex movements, the control system of asking for advice and reproduction is adopted. More complex manipulators use digital control systems, small computer or microprocessor controlled systems. In the control system, the pinboard is used most, followed by the cam drum. It is equipped with many cams, and each cam is assigned to a moving shaft, and the drum completes a cycle when it moves once.