The invention relate to a device and a method for controlling a single-
bus modular digital
actuator of a
robot. The device comprises an
actuator control unit, a direct-current motor, a communication module, a
speed reduction mechanism, position and temperature sensors and a current protection circuit. The method includes that the
actuator control unit computes
control parameters according to the running temperatures, driving currents of the motor and the position of the actuator and outputs the
control parameters to a
motor control circuit; the communication module receives control instructions of an upper computer and feeds information of the current position of the actuator, the current speed of the actuator and the like to the upper computer; a high rotational speed and low torque of the motor are converted into a low rotational speed and
high torque by the
speed reduction mechanism and an output mechanism, and the low rotational speed and the
high torque are outputted by the
speed reduction mechanism and the output mechanism; the
position sensor, the temperature sensor and the current protection circuit are respectively used for feeding current position signals of the actuator, the running temperatures and the driving currents of the motor to the actuator
control unit, so that closed-loop high-precision
safety control can be implemented. The device and the method have the advantages of
overcurrent,
overvoltage and over-temperature protection, capability of preventing overload or over-temperature damage, high response speed, zero dead zones and high control precision.