Abstract: Off-line programming system is an effective tool for the robot application. This paper presents an intelligent assemble robot offline programming system ARPS.This system provided an user-friendly environmemt of robot programmig and debugging,The model of robot and its environmemt can be established by interactive mode. The robot task is described by the manipulatorlevel robot programming language ARL. The user tests robot program by graphic simulation and transfers the objective program and data to the robot controller by serial trans mission.