Abstract: An agent control system based JADE（a widely used Java agent development framework） is designed for mobile robots.Adopting JNI（Java Native Interface） technique，the agent programmed with pure Java language can control the hardware of robot.The reactive behaviours of trajectory generating，motion control，pose estimate and security control，are programmed in motion control card to improve real time performance，the database management and path planning behaviours are in PC104 onboard computer and the HMI（Human Machine Interface） agent is suited in position machine.The approach has broad prospect in industrial control field with Java agent has an ability of hardware realtime processing，and the experiment is given to demonstrate the feasibility.