Abstract: Based on dynamic equations and Hamilton-Jacobi principle, a joint drive control system for a robotic manipulator is designed from hardware to software. The main task of the system is to minimize the energy consumption of the system. Simulation and experimental results prove the usability and accuracy of the system. Key words: robotic manipulator, driving system, dissipated energy, computer control. With the reduction of manufacturing costs and the significant improvement of work efficiency and reliability, robots are increasingly widely used in modern industrial production. During this period, many scholars have published their insights and achievements on the motion analysis and control methods of the joint drive system of robotic manipulators[1][2]. Meanwhile, how to use optimal control theory and methods to minimize the energy consumption of the drive system in order to protect the environment has become one of the key issues in the research [3][4]. This is becoming increasingly important for robots and other industrial electromechanical products. 1 Dynamic equations and minimum energy consumption Without loss of generality, in PTP (point to point) mode, it is assumed that the Coulomb friction is always positive because the direction of the angular velocity remains constant. For details, please click: Design of joint drive control system for robot robotic arm