The present invention relates to a modularized control system for an articulated robot, which is based on CAN bus. The present invention is characterized in that the control system comprises a PC, a CAN intelligence interface card, a plurality of control modules (wherein, each control module controls one articulation of the robot), and a CAN bus for connecting the modules and the CAN intelligence interface card. In the control system of the present invention, a two circuit CAN intelligence interface card is connected to the PC by an USB interface at one end, and is connected to the CAN bus by a CAN bus interface at the other end; the control module is connected to the CAN bus. The system and method of the present invention has excellent portability, short development cycle, low cost, regrouping property, fungible property, openness and high stability, and can execute on-line monitoring to robot.