The invention discloses a GSK-Link bus based modular robot control device and a control method. The GSK-Link bus based modular robot control device comprises a main controller, an algorithm controller, a GSK-Link bus plate, a display screen and a press key plate. The main controller is used for implementing teaching, teaching examination, reproducing motion control, teaching programming, procedure explanation, pretreatment and parameter setting on a robot; the algorithm controller is used for performing forward and inverse solution algorithm, interpolation algorithm, speed control and trajectory planning on the motion data of the robot; the GSK-Link bus plate is used for implementing the GSK-Link bus control; the display screen is used for displaying the program editing and the state of the robot; the press key plate is used for implementing the operation input and the displaying of an indicating lamp; the main controller is connected with the display screen, the algorithm controller and the GSK-Link bus plate; and the GSK-Link bus plate is connected with the press key plate. The GSK-Link bus can be used for quickly responding to the request, transmitting data at high speed and detecting the state in real time, so that the real-time performance and the safety of the system are improved. In addition, due to the function modularization of the components of the GSK-Link bus based modular robot control device, the functions of other modules can not be affected by addition or modification of a single module, and the reliability of the system is improved.