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In order to implement the real-time control of the robotic arm and meet the needs of industrial automation, The real-time control system of robot arm under Linux system is investigated; it describes the current research background of the real-time control of the robotic arm and introduces the latest domestic and foreign development status of the robotic arm real-time control system under the ROS platform; at the same time, it focuses on the real-time control solutions and tools used in the Linux system, and summarizes the relevant technology which solve the real-time control system; Acoording to the technical characteristics of the real-time control of the robotic arm and current deficiencies, the future development trends is analysed.