Abstract: Following the development of internet technology，the remote control of robot is becoming a hot research for its wide range of applications.The time-delay and security problem caused by the complexity of internet is its key problems.This paper designs and implements an internet-based robot real-time simulation and visual feedback system.A real-time simulation based on state feedback is introduced to solve the time-delay and the security problem.In addition，both the off-line teaching simulation before on-line control and the mode switching from remote control to local control can make the robot manipulation more secure，and greatly reduce the time of on-line control.Finally，the experimental results show its correctness and feasibility.