The control interface of the host computer is designed based on the MFC framework. The robot control system was designed based on the TMS320F28335 core boarded digital signal processing (DSP) controller as lower levelfor outside hardware circuit,which supports TCP/IP,CAN, RS232 and the GSM communication based on the SIM card.The controller and the server system was connected via RS232,and the server system was controlled by the command code.Each robot joint motion is simulated real-time with Matlab 7.0 platform, which illustrates thefeasibility of the proposed method.