Abstract: A simulation method of two-arm coordinate control is proposed.Because there are control moduleand simulation module in simulator,it can be used to test the properties of controller and to analyse the ef-fect of parameter error of sensors and robot arms.Variable structure is adopted in this simulator,that is,the simulator is generated automatically by an expert system(EXPV) and an expression calculatingprogram generator(EXPC).Thus man-machine interface is improved and the application area is broad-ened.