Abstract: This paper presents a real-time robot simulation system based on dSPACE parallel processors, which is two-layer structure and is consistent with real robot control system, high computation performance can be guaranteed.Simulation software are designed by C language and SIMULINK module respectively, dynamics, kinematics, control scheme, trajectory plan, etc., all be packed as module and a user interface are designed. In order to avoid the limit that the TRACE can not display some variable contemporary in a window, a graphic man-machine mutual are implemented by VB language and MATLAB,data exchanges are completed by using Dynamic Data Exchange.