In order to realize the bidirectional driving of data between industrial robot and digital twin, a virtual-real linkage system for industrial robots was developed based on the digital twin system architecture. A virtual scene of the system was built in Unity3D, and various methods such as joint control, end point control, and end trajectory control were established to realize the simulated motion of the virtual robot. Based on the Socket network communication mode of the TCP/IP protocol, the two-way transmission of the robot pose state and other data was used to drive the synchronous motion of the virtual and real models. After testing, the system has good real-time performance and immersion, which can meet the real-time monitoring and visual control requirements for industrial robots.