to establish the six dof manipulator model in the solidworks and get a simplified model with the sw2urdf plugin. using moveit! setup assistant makes it easy to configure the manipulator for motion planning based on ros. we can accomplish the motion planning in rviz with motionplanning plugin based on ompl which consists of many sampling-based motion planning algorithms and analyse the kpiece algorithm that is specifically designed for systems with complex dynamic. considering the manipulator's motion planning in complex environment, using ros-based 3d model can realize the virtual control and get a set of joint information about position, speed, effort and so on, so we can make more analysis and improvement about the motion planning algorithms. © 2016, shanghai jiao tong university press. all right reserved.