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The current robot gesture fault-tolerant control system has poor flexibility in arm control and it is difficult to meet the requirements of people. In order to solve the above problems, a new robot gesture fault-tolerant control system was designed. The “PC + control card” was set as the overall architecture. The master station and the head station controller were added to enhance the scalability of the system. At the same time, no redundancy and redundancy were adopted. Two methods are used to connect the faulty cable to improve the fault tolerance of the system. The latest EtherCAT slave chip is used to design the hardware slave system. The LAN9252 is connected to the peripheral circuit to form the ESC communication card and the peripheral circuit forms the ESC communication card. The eight-axis servo control card is used as the core component. It is compatible with the requirements of two slave stations. The decision-making system and the original data processing algorithm design sensor control. Set the driver according to the hardware, including the driver from the PC to the EtherCAT Master open source master, the driver from the servo control card to the master, and the driver from the sensor to the servo control card. The experimental results show that the maximum following error of the robot gesture fault-tolerant control system based on PC + control card is 24.33% shorter than the traditional system error, and the test results can meet its requirements.