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Aiming at Epson-G6 and Staubli-TX90 industrial robots, a kind of industrial robot monitoring system based on Socket communication is studied. It includes a local monitoring terminal and a web remote monitoring terminal. Based on TCP protocol and Socket communication, the server-side in robot controllers and the client using MFC Framework are respectively programmed. The client contains the communication module, the end coordinate trajectories memory module and the motion posture presentation module based on OpenGL class library. On this basis, the web remote monitoring terminal is designed with J2EE architecture and WebSocket protocol, it is made up of a user management module and a real-time monitoring module. The system realizes the acquisition of the end coordinate trajectories of the robots, the storage of the trajectories to a PostgreSQL database and the monitoring of the trajectories by dynamic curve on web pages. At the same time, the 3D motion attitudes of two robots are also presented by the inverse kinematics calculation.