Aiming at the problems of unstable accuracy,long programming time and low working efficiency of robots in manual teaching of robots,an offline simulation system based on MATLAB was developed.The control and simulation of the robot’〖KG-*3〗s 3D model were realized through MATLAB,the control language of the robot arm in actual work was analyzed,and the corresponding control program was generated to realize the control of the six degree-of-freedom robot in virtual and reality.At the same time,the offline automatic programming function under the virtual environment was also introduced.Finally,the corresponding virtual working environment was built with the cell glue working unit as a prototype,and the KR16 of KUKA was used to verify the effectiveness of the offline simulation system in practice.It proves that the system can excellently complete the gluing task.