The SCARA robot control system, which comprises environment monitoring, collision-free path planning, joint trajectory generation and trajectory control, is developed. In environment monitoring, the work space is displayed on a CRT through a TV camera and obstacles are then interactively modeled. The collision-free path is planned based on the configuration space method, and the shortest path is heuristically obtained. The path is described by a set of joint trajectories using the B-spline curve. The trajectories are iteratively improved to optimize the specified performance index considering the robot dynamics. The generated trajectories are used as reference joint trajectories to control the robot. Control parameters are also determined according to the identification of the robot. This system is confirmed to be effective throughout experiments.