This paper researches on an experimental teaching method of industrial robots for safe operation, which is based on the combination of virtuality and reality. We design a trajectory generation experiment in limited space from real application. A progressive solution which combines physical model, kinematic calculation and trajectory generation is proposed. The solution is realized with MATLAB Robotics Toolbox based virtual simulation and domestic industrial robot based physical experiment. At last, a virtuality-reality combination based experiment teaching method is comprehensively proposed. The application effect is validated with a course case. With the teaching method, students can progressively master the operation of industrial robots in a safe manner. They can also design an innovative experiment with the virtuality-reality combinational structure. The teaching method gained good application in experimental courses of industrial robots. In addition, it can be extended to other similar courses with risks.