Abstract In this paper, a real-time robot control system developed at Lola Institute has been presented. The system is a part of a distributed one, in which control logic is implemented using a finite state machine (FSM). The real-time system is based on the Linux platform, where the Linux kernel is patched with the real-time framework Xenomai. OROCOS (Open RObot COntrol Software) is used to provide the real-time environment to implement desired robot control software in C++. The system consists of various structured components with different roles. It is designed to be modular and flexible, which provides easy connection and disconnection of components depending on the requirements. The usage of the real-time FSM enables supervisory control and monitoring. A system modeling has been also presented, using UML graphics tool.