Abstract: The robot graphic teach-in programming is introduced in this paper.After Setting up the kinematic and ge-ometric models of the robot,the robot motion is teach-inly simulated on computer screen by using real-timeanimation techniques,so that the operator seems to be in the real environment.Besides,the methods of steprunning and real-time modifying the graphic teach-in programs are discussed.As an example,the graphicteach-in technique applied to national made PJ-1A robot for spray painting is given in the end of this paper,which shows that the robot graphictech-in technique is very efficient,and is a powerful tool for robot pro-gramming.