Abstract: This paper describes a microcomputer interactive package for computer-aided off-line planning of robot mo-tion. The package includes interactive construction of 3D graphic models, kinematic and dynamic simulation, mo-tion planning, collision detection and image animation and provides a text output file of the robot program. Therobot controller can accept the text output from software system, transporting the robot program fromIBM-PC/AT to the robot control, and executing the robot program. An experiment of off-line planning of aPT-300V Robot using this package has been made preliminarily.