This thesis presents a design of the digital controller using PWM technique and a continuous path tracking algorithm for industrial robot. KAISEM 1. which has 3 degrees-of-freedom in cylindrical coordinate. The robot controller hardware is composed of a host computer(MC 68000 16 bit μ-processor), slave computer (Z-80 8 bit μ-processor) and DC motor drive circuits. The manipulator system equipped with PWM digital controller is tested for the continuous path tracking in R-φ plane.