This paper introduces a basic theory and implementation method of computer graphic simulation for robot tasking. The contents are 3-D geometric modelling for robot body and its environment objects，technology of graphic teaching programming for robot tasking，and making technique for animated cartoon. It is pointed out that some important problem should be taken into account, in designing a robot kinematic simulation system. As an example，graphic simulation demonstration of Adapt Ⅱ robot in transporting is given in the end of the paper.