Control of manipulator constructed from identical modules is described. The structure of modules makes possible to develop a lot of different kinematic schemes. The mathematical all such schemes is proposed. The software is developed that is able to adjust control system on given kinematic scheme automatically. Control system realizes motion of jaws in absolute and relative cartesian axes with cheking of selfcollision by manipulator. All program modules function in graphical mode in real time.

Theoretical and applied problems of mechanics