Abstract: On the basis of local network with multi-level hierarchy,this paper presents a cross-platform remote real-time control system frame,which consists of intelligence and human-machine interface level,motion planning level,motion control level and servo control level.The last three levels form local real-time open robot controller.The first level can connect many local controllers through local network.Human-machine interface works in Windows for convenience and the local controller runs in Linux for good ability in real time.Based on the frame,a cross-platform remote real-time control system for single robot is realized.Remote vision control experiment is done and the results show that this system works stably in real time.