Abstract: A new robot simulation and monitoring system has been developed in our unit. Being run on Pentium PCs with Linux operating system and being developed with OpenGL, this system has the capacity of simulating the motion of an industrial robot in realtime. Connected with the robot controller via network, the system can receive the status data of the robot and display them in 3D-simulation mode and/or store them for future analysis. Users can monitor dynamically the behavior of the robot, and can control directly the action of the robot if necessary.