The invention relates to a reconfigurable modular robot system, in particular to the field of program control manipulators. The reconfigurable modular robot system comprises a controller, a human-machine interface, a demonstrator and a sensor; the human-machine interface is connected with the controller, the demonstrator and the sensor separately, and used for receiving user operation information;the demonstrator is used for receiving and sending demonstration operation information to the human-machine interface, and the sensor is used for acquiring and processing signals, and generating andsending feedback information to the human-machine interface; and the controller comprises a task scheduling module, a design function module and a motion function module, and the human-machine interface is used for sending the user operation information, the demonstration operation information and the sensor feedback information to the task scheduling module, and generating task scheduling information. According to the scheme, the technical problem that how to control a reconfigured modular robot is solved, and the reconfigurable modular robot system is applicable for control over the reconfigured modular robot.