For embedded systems, verifying both real-time properties and logical validity are important. The embedded system is not only required to the accurate operation but also required to strictly real-time properties. To verify real-time properties is a key problem in model checking. In order to verify real-time properties of assembly program, we develop the simulator to propose the model checking method for verifying assembly programs. Simultaneously, we propose a timed Kripke structure and implement the simulator of the robot's processor to be verified. We propose the timed Kripke structure including the execution time which extends Kripke structure. For the input assembly program, the simulator generates timed Kripke structure by dynamic program analysis. Also, we implement model checker after generating timed Kripke structure in order to verify whether timed Kripke structure satisfies RTCTL formulas. Finally, to evaluate a proposed method, we conduct experiments with the implementation of the verification system. To solve the real problem, we have experimented with real microcontroller software.