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In this paper, we have developed a Windows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.