In order to improve the processing quality and efficiency of gluing, an offline programming system was designed with the help of SolidWorks secondary development interface. For the gluecoated workpiece contours with nonuniform rational B-splines (NURBS) curve, a NURBS interpolation algorithm was studied, it was combined with the extraction method of rough and fine path points, by which obstacles could be avoided. Then, C#.NET combined with OpenGL was used to realize the simulation environment. The ZZRT-608 six degree-of-freedom robot was used as the mechanical system, and the ZMC406 was used as the control system to build the experimental platform. A typical shoe sample was chose as the gluecoated test object. Compared with the manual teaching programming of the KUKA robot, the off-line programming system has improved efficiency by 30%~50%, and the gluing trajectory is more uniform. It can meet the highprecision production requirements better.