Abstract: This paper proposes a software architecture for a substation equipment inspection robot control system based on an embedded Linux operating system, taking into account the actual situation of substation equipment inspection work. The design of the robot control system on the PC104 hardware module is completed, and the overall flow of the embedded system software is introduced. The implementation process of the PMAC motion control card driver is given. Field operation tests show that the control system can truly form a full monitoring mode, which can greatly improve the safety, reliability, and real-time performance of substation equipment operation. Keywords: Robot; Embedded Linux; Control System; Device Driver 1 Introduction With the continuous advancement of science and technology and the deepening and development of power system reform, the automation level of power systems has greatly improved. The electrical signals of substation equipment can be obtained through monitoring and control and data acquisition systems, high-voltage equipment insulation detection, relay protection, and other devices, thus realizing remote monitoring of the main equipment of the substation. Even though many substations have now realized telemetry, remote signaling, remote control, and remote adjustment functions, becoming substations with few or no staff on duty, there are still a series of problems caused by the lack of timely on-site monitoring and inspection, and even hidden dangers. To resolve this contradiction while considering the traditional operation of substations, we developed a prototype platform for an intelligent substation inspection robot using robotics technology. This paper mainly introduces the implementation of the intelligent inspection robot control system. Utilizing an embedded Linux operating system and a multi-board embedded system composed of PC104 modules, this embedded system performs functions such as data acquisition, communication with the host computer, and control algorithm implementation. Compared to the original Windows CE-based control system, it offers significantly higher reliability and real-time performance, and can reduce costs after productization. For details, please click: Substation Inspection Robot Control System Design