The control system is a kind of hierarchical control system , which is composed of teach box , main microcomputer and hypogenous microcomputers 控制系统采用模块化、分布式多级单片机控制方式，分为示教盒、主机、下位机三级。
2.
The control system is a kind of hierarchical control system , which is composed of epigynous operation computer which is used of pc computer , hypogenous operation computer which is used of 89c51 single - chip 三指灵巧手的控制系统采用分级控制，上位机由pc机担任，下位机选用89c51单片机。
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The teach box is made up of lcd and film keys , which makes the operation easy and convenient ; while the main microcomputer control system makes the communication between the teach box and hypogenous microcomputer possible and carries out teach and playback function . the servomotors are under the control of hypogenous microcomputers 示教盒由液晶显示器和薄膜按键组成，操作简单，方便；主机控制系统则主要完成与示教盒和下位机的通信，并完成机器人的示教再现控制；下位机则直接控制各个关节实现所要求的运动轨迹。
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