About offline programming of cladding robot is researched, and the method of using Tecnomatix PS to aid the offline programming is introduced． The robot model was designed in CATIA three dimensional (3D) technique, and then the working condition was simulated in Tecnomatix PS． At the same time, the function of virtual simulation was united to make the offline programming and simulation possible, and finally to output teaching application． As a part of the whole offline programming，the output of Tecnomatix PS has been proved that it can meet the requirements of the next step of offline programming．