The modularized control system for a novel reconfigurable stacking robot system is proposed.According to the characteristics of the mechanism and motion

use industrial personal computer（ IPC）

motion control card

programmable logic controller（ PLC） and human machine interface（ HMI）

control system is realized.Hybrid and reconfigurable control architecture

which consists of system layer

planning layer and resource layer is established. At the same time

parameterized model of the function module is established

then the system can configure these functional modules according to the need by using some reconfiguration rules and execution rules

and simply introduce the design of them. The control system is successfully applied in the project of automatic stacking of smoke

the experiments prove the feasibility of the control system.