Abstract: In this paper the authors develop a specific program facing the robot equati-ons.This named ROBEQS program is written in LISP.Thus the robot equations areautomatically generated in computer.And the control signals are calculated by u-sing Resolved Motion Rate Method.Besides the uniform acceleration-deceleration motion motion employed as the gripper motion,a new motion regulation is used,whichpossesses better dynamic properties.Based on this,some researches on the digitalsimulation of robor systems have been made.In simulations the actuator effects aretaken into consideration.The simulation results and the negative work phenomenaare discussed.