Abstract: The framework of VR (Virtual Reality) system, graphics-based virtual environment generation and real-time processing techniques are discussed in this paper. The structure and software of VR for robotics application is studied. A VR simulation system has been developed, which is an integration of space parameter models, kinematic and dynamic models, and some software, such as IRIS Performer, GL/OpenGL and 3DS Alias/wavefront. A simulated robot is presented as an example to show the performance of the developed system.