This paper aims to develop an AR-based robotic arm teaching platform to support interaction between students and the robotic arm. Students can control the robotic arm’s movements and interact with real objects through AR glasses, obtaining parameters such as the coordinates and motion trajectories of the robotic arm in the process. Additionally, the real robotic arm can also move according to the path simulated in the program, completing tasks with ideal motion trajectories. The purpose of this teaching platform is to simplify the industrial manufacturing process by introducing a straightforward and intuitive way to interact with hardware, without requiring special programming skills or lengthy training. Moreover, virtual programming in AR ensures student safety, prevents damage to the robotic arm, and allows real-time interaction with physical objects, achieving precise task completion and preventing collisions with other objects. The class will also include a demonstration of a robotic arm holding a pen to complete writing motions, so that the students can better understand the motion design guidelines of the robotic arm and be able to apply the knowledge to other industrial scenarios.