Abstract: This paper describes a grinding robot HITDM-Ⅰ,which adopts teach-playback operating mode and is controlled using microcomputer.The teaching movement of the robot is measured by two incremental optical encoders and the data measured are stored.The two axes of the robot are driven by two stepping motors respectively.This paper describes the principal and hardware of the position control of the stepping motors.In addition,this paper describes the principal and implementation of the robot repeating speed control.