Abstract: A system designed for machining regular graphic units on irregular complex curved surface was presented,and this system includes a 3-DOF right-angle coordinate robot and a 2-DOF positioner. The software for the system was designed, in which the functions of the engineering database management,generating the job sequence, planning the cutting path, off-line programming and simulation, real-time monitoring and error handling, predicting for the work condition and error compensation were realized. It was proved by a series of tests that the control software can control the system accurately, effectively and in real-time.