采用定时器控制方法产生舵机控制的脉冲信号。为了能实现活动关节根据输入角度准确定位和微调，在设计中加入了矩阵键盘调控系统。在硬件搭建方面，设计了基于STC89C52的2路脉冲信号的硬件控制电路系统。之后对系统所使用的编辑软件和调试工具进行了简要说明，并详细介绍了软硬件主要模块的设计和实现过程，以及重要模块的调试和仿真的具体过程。最后，根据软硬件设计结果，制作了一个极坐标结构的机器人关节，能够完成在水平和竖直方向的比较精确的控制。-Using the timer control method generates a pulse signal servo control. In order to achieve accurate positioning of the movable joints according to the input angle and fine-tune the design by adding a keyboard matrix regulation system. On the hardware structures, the design of hardware STC89C52 2 pulse signal based on the control circuitry. After editing software and debugging tools used by the system provides a brief descr iption, and details the specific process simulation and debugging of hardware and software design and implementation of main modules, as well as important module. Finally, according to software and hardware design results, made a polar coordinate robot joint structure, it can be completed in the horizontal and vertical directions more precise control.