介绍一种机械手关节运动的PC机控制方法，它包括步进电机的驱动、硬件接口电路的设计、软件的编程方法。

This paper introduces PC control approach of joint motion of manipulator. This approach includes driving of stepping motor, interface design of hardware circuit and software programming.

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根据该机械手的工作特点，采用步进顺序控制方式，使程序简化，便于调试。

According to the work characteristic of the manipulator, stepping sequence control is adopted so as to simplify program.

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采用牛顿-欧拉方法对物料抓取机械手操作臂进行了动力学分析，为步进电机的选型和结构优化提供了理论依据。

The Newton-Euripides method is put into use in analysis the object holding manipulator dynamics and the result will provide theory evidence in step motor selecting and structure optimizing.

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