The manipulator is mainly composed of three parts: hand, motion mechanism and control system. The hand is a part used to hold the workpiece (or tool). There are various structural forms according to the shape, size, weight, material and operation requirements of the object being held, such as clamping type, holding type and adsorption type. . The movement mechanism enables the hand to complete various rotations (swings), movements, or composite movements to achieve prescribed actions and change the position and posture of the object being held. The independent movement modes of the movement mechanism such as lifting, telescoping, and rotation are called the degrees of freedom of the manipulator. In order to capture objects at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter of the robot design. The more degrees of freedom, the greater the flexibility of the robot, the wider its versatility, and the more complex its structure. Generally dedicated robots have 2 to 3 degrees of freedom. The control system performs specific actions by controlling the motor of each degree of freedom of the manipulator. At the same time, the sensor feedback information is received to form a stable closed-loop control. The core of the control system is usually composed of a single-chip microcomputer or a micro-control chip such as dsp, and the desired function is realized by programming it. Non-standard robot