Abstract: PCROBSM is a robot simulation system suitable for IBM-PC and its compatible computer. Completed system function is able to simulate kinematics,trajectory planning, dynamics,control algorithm,force sensor and typical case. Its important characteristic lies in rich control and trajectory planning algorithms and good user interface. Convenient environment to test and verify those algorithms are provided for user. By way of example,the system provlded robot language SVAL,3D teach and 3D display. At the same time,in order to approach practice,this system adopts C and Fortran programming language,and modular structure.