A robot control system includes robot controller circuitry that controls a robot, and host controller circuitry that communicates with the robot controller circuitry. The host controller circuitry further executes a control program, and transmits a command according to an execution result of the control program to the robot controller circuitry, and the robot controller circuitry further receives the command from the host controller circuitry, and executes pre-processing according to the command.

The invention relates to a method and device for controlling and regulating motors, MOT.sub.m, of a robot, with m=1, 2, . . . M, wherein the robot has robot components that are interconnected via a number, N, of articulated connections GEL.sub.n, the joint angles of the articulated connections GEL.sub.n can be adjusted by means of associated motors MOT.sub.m; Z(t.sub.k) is a state of the robot components in an interval, t.sub.k; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.

Based on the premise that a step-out will occur in a stepping motor, this invention provides a suitable countermeasure for when a step-out occurs. A robot device includes: a robot arm mechanism having a joint; a stepping motor that generates motive power that actuates the joint; a motor driver that drives the stepping motor; a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a current position to a final target position; a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver; and a step-out detecting section that detects a step-out of the stepping motor. The robot device also includes a system control section. When a step-out is detected, the system control section controls the trajectory calculating section and the command value outputting section so as to recalculate a trajectory to the final target position from a position of the attention point that is shifted due to the step-out, and to move the attention point in accordance with the recalculated trajectory.