Robot palletizer, a kind of robot for humanoid operations, automated control, energy conservation and environmental protection, can be utilized for the stacking of different types of materials. A robot palletizer consists of the mechanical body, servo drive system, arm, end effector and its posture control mechanism and testing structure. As one of the core components for the robot palletizer, the servo control system provides most of the power, and a highly cost-effective servo control system decides the reliability and stability of the robot palletizer.