Abstract: New trends in robotics applications require powerful robot control system. In this paper we describe an ad-vanced robot control system. It includes mainly two parts: a) A real time software system for robot control. Thissoftware system consists of four subsystems, that is MONITOR subsystem, TEACHBOX subsystem, SRCL IN-TERPRETER subsystem and EXCEPTION subsystem; b)An open-structure of hardware which provides a flexilebardware environment. The SRCL Language is a general robot control language which adapts to a lot of types ofrobots, such as PUMA series and other robotos.One of two period of sample time can be chosen according to theuse’s demands. In addition, it is easy or to change the hardware configuration and system software for differentdemands in robot control. Now, the ARCS system has successful been used to control a PUMA760 robot.