We design the servo control system of the bending joint based on the proportional servo technology.
基于比例伺服技术，设计了弯曲关节的伺服控制系统。
2
One important research aspect has come into being which is robot integral joint design driven directly by AC servosystem.
由交流伺服系统直接驱动的机器人关节一体化设计已成为一个重要研究方向。
3
Meanwhile, the speed regulation, position detection and feedback, movement coordination of each joint in the servo control system of this manipulator are described in the article.