By using OpenGL development environment, and combined it with Visual C++, the three dimensional (3D) model of handling industrial robot was established. The simulation system was developed with scalability and portability. It was encapsulated with FMS robot's forward and inverse kinematics, forward and inverse dynamics, various control algorithms and trajectory planning into common modules, and provided a user interface for users to design their own modules and control algorithms, as well as added multiple input and output modules. The actual FMS robot control system was extended by this structure, which is better for carrying out the 3D simulation of handling industrial robot’〖KG-*2〗s work attitude in the working space, and achieving the integration in unity of realtime control and realtime simulation.