Program of robot vision control is generally developed with advanced program language(VB, VC etc), in which disadvantages exist, such as long development cycle, more difficulties.
一般机器人视觉控制程序通过高级程序语言（VB、VC等）开发，开发过程存在开发周期长，难度大等缺点。
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Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the controlprogram is created.
The design and principle of interface circuit are discussed in detail. The design of controlprogram and the principle of the robot operation are also described.