Aiming at the problems of poor universality,low reliability and difficult secondary development of traditional offline programming system,an industrial robot offline programming system based on machine vision was developed.Based on the idea of modularization,the system was divided into machine vision module,virtual environment module,kinematics module,trajectory planning module,offline program module and external communication module.With the help of machine vision module,the coordinate mapping relationship between vision system and end pose of robot was deconstructed,and the pose data required for robot motion planning were obtained; the robot virtual simulation environment was constructed based on virtual reality modeling language,and the pose data were transformed into robot operation instructions based on kinematics module and trajectory planning module; based on the off-line program module and external communication module,the connection between controller instructions and virtual simulation environment was realized.Finally,taking a six axis industrial robot as the test object,the basic functions of the off-line programming system were verified.The experimental results show that the maximum positioning error of this system is 0.4 mm,which has the characteristics of high precision and can meet the needs of industrial application.