For the characteristics of open control systems, open hardware control system was constructed based on industrial tablet computer and programmable multipleaxis controller (PMAC). Development of host computer control system software was carried out based on Visual C ++ 60. The control system was adopted of hierarchical control mode and modular structure of the software design, the host computer was responsible for information processing, path planning, humancomputer interaction, the lower computer to achieve the position servo control of each joint, modular software design allowed changes the number of robot functions easily, and the system had good openness and scalability. According to the teachplayback and weight experiments, it is proved that the robot control system is running smoothly, and meets the design requirements.