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Constructing a robotic control system usually needs much effort. Furthermore, the real time operating environment is required for a teleoperation/telemanipulation system. Work in this paper aims at developing a real time control system using xPC Target for robotic system control. By utilizing the software package MATLAB, Simulink, Real Time Workshop, xPC Target and a C/C++ compiler, the I/O boards are interfaced between the Simulink block and the robotic system such that the physical system is controlled successfully in the manner of hardware-in-the-loop simulation. The presented developing procedure shows a convenient way to implement a real time robotic control system, which does not require any low level language programming. Three case studies, which are single DC motor control, robotic hand control, and telemanipulation system control, are performed to demonstrate the advantages and easiness of developing robotic control system using xPC Target.