As the research object of lab’saircraft exterior cleaning robot with 5DOF, a realtime control system with 3D realtime motion simulation is built for it. CAN card and Copley drivers are mainly usedin the hardwaresystemto implement realtime control. The 3D software SolidWorksis secondary developed by Visual Studio C# in the software design. By using database, realtime control software and 3D simulation software are combined to implement the 3D realtime motion simulation. Experiment shows that, not only can the robot be commanded, but also this system can feed the pose back through 3D model in real time and record the data generated by movement of the robot on the premise of guaranteeing precision, and the robot can be controlled and monitored in real time.