Real-time simulation system (RTSS) automatically generates a robot computer model in the form of a multidimensional system of differential and algebraic equations and solves this system with numerical methods.. RTSS enables to simulate the wide range of robots arm mechanisms: with open kinematic chain, with unlimited number of links jointed with each other by 5-class kinematic pairs; the links considered to be elastic bodies. RTSS generates also the drivers' dynamic equation for each DOF. The models of arm mechanisms and drivers are combined and completed with models of control algorithms.

RTSS has an advanced interface that serves to enter into a model the parameters of arm mechanisms and drivers, to select motion control algorithms, to program and simulate missions, to establish relationships between virtual and physical variables, to select variables for registration.