機械手有若干人類所不具備的重要特性和優點。它可以藉著程式而反覆再生所設定的工作程序。所以在生產線上加入機械手，可以達到無人自動化的作業目標。
本文就油壓伺服機械手進行控制電路設計與製作、軟體程式規劃和機械手的教導之研究。第二、三兩章採用微電腦配合 Turbo C 程式語言控制機械手。第二章探討微電腦和機械手之間的介面電路設計與製作。第三章分析機械手移動時的振動現象，利用C語言以不同的加速曲線輸入伺服閥，測量機械手起動和停止時的最大振動量，分析實驗數據發現，電壓變化率較為緩和的加速特性曲線，產生的振動量較小，定位較準確。第四章採用可程式控制器配合A/D、D/A介面電路以閉迴路方式控制機械手。經由實驗證明，本文所用的控制電路相當簡單，程式修改容易，配合適當的加速特性曲線，可降低機械手振動量，並提高定位精確度。

Manipulator owns particularities and advantages which human beings don't have. It is capable of doing the working procedures which are set up by computer programs repeatly. Thus, we may will achieve the automatic operating purpose if it equips manipulator on the production lines.
We take advantage of servo manipulator to proceed control circuit design and production,software programming and research guide of manipulator in this article. Using microcomputer to coordinate Turbo C program to control manipulator on chapter two and chapter three. On chapter two, exploring an interface of circuit design and production which lies between microcomputer and manipulator. On chapter three, if manipulator is moving, analyzing the vibration phenomena; making use of C language to input servo valve with the different accelerating curves to measure the largest vibration energy that manipulator is started and stopped. As we know from experiment analysis data, the variation ratios of voltage is a slower accelerating particular curve which produces a smaller vibration energy and a more accurate position. On chapter four, using programmable logic controller to match the interface of A/D, D/A andcontrol manipulator with a style of closed circuit. Via the evidence of experiment, it's very simple to use the control circuit in this article. It's easy to correct programs and coordinate an appropriate accelerating particular curve to lower the vibration energy of manipulator and promote the precision of position.