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Industrial manipulators become an indispensable part in the industrialization and "Machine Substitution" process. The control system of the manipulator is also very important, which is one of the core components. Aim at this circumstance, a universal control system of loading- and unloading-manipulator is designed and developed based on STM32 microprocessor. The control system has two parts: a motion controller and a handheld teaching box. The motion controller is used to achieve high-precision motion control of the manipulator, and there are two driving modes are designed, which are pulse mode and bus mode. The repeated positioning precision is 0.01 mm and the maximum velocity is 2 m/s. The handheld teaching box is a man-machine interaction interface and is designed with Chinese character based on a 7 inch LCD. It can write programs online according to the production process and teaching the programs in real time, and the minimum response time is 0.08 s, which has an excellent universality and convenience. On the other hand, program storage, offline system upgrading, safety monitoring, product stacking, and other functions are also designed in the control system. The control system has a good market application value and can provide a positive reference for the design and development of universal manipulator control systems.