Abstract: The folding manipulator with four degrees of freedom which is supervised and controlled by a STD industry control computer is used to put the wall-climbing robot onto working place or fetch it back in mobile coordinate space.according to the information of the visual sensor and approach switches.In this pa-per,the kinematic equations is derived,the solution of the forward and inverse kinematic equations is given,and the programmable posltion control system and operation system are discussed in details.