首先我們使用PC-Based控制器控制SCORBOT-ER VII機械臂，此控制器包括了PC、電流放大器、A/D轉換器、D/A轉換器及數位I/O卡。然後使用HCTL-2020解碼器讀取機械臂各軸之位置資料。利用電流感測器讀取銲接電流回饋訊號至銲接控制器以控制機械臂進行銲接工作，由反運動學之解求得機械臂各軸之運動路徑規劃。最後整合馬達控制器、電流控制器及機械臂之路徑規劃成為自動銲接系統。

First, we use a PC-Based controller to control SCORBOT-ER VII robot. Then we use a 2020 decoder circuit to decode the angel signal from encoder. Using current sensor to get welding current feedback signal we can control the robot to welding. The controller is including a PC, current amplifier, A/D converter, D/A converter, and digital I/O. We can get the joint angle by solving inverse manipulator kinematics equations. Finally, we design a welding controller to control the auto-welding system.