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In order to make the six axis manipulator smoothly cross the obstacles and reach the target position, the ROS robot operating system is used to plan the path of the robot arm. This planned model uses SolidWorks to create a six-degree-of-freedom robotic arm prototype model. Configure the robotic arm motion planning toolkit through the C++ related API interface provided by the Moveit! toolkit, then based on the RRT algorithm, plan the path of the robot arm to obtain the optimal path trajectory,and finally, it is concluded that the speed of each joint is relatively stable during the moving process of the robot arm from the initial pose to the target pose, meeting the requirements of general robot arm path error. This provides a certain theoretical reference value for the platform to control the virtual machine or realize the motion of the physical robot arm.