An effective control method is proposed for ER20-1700 manipulator to realize motion control. Firstly, DH parameter table was established to calculate the inverse solution of the robot through kinematic analysis of the Three-Dimensional modeling of ER20-1700 robot. Then, the three-dimensional model in SolidWorks was imported into Simulink with plug-ins to quickly build the mechanical control model. Then, the physical model driven by motor was built and improved to complete the whole control model, and the positive and inverse solution simulation of the robotic arm Simscape was realized.The calculated inverse solution was programmed into MATLAB and simulated in robotics Tool, and the simulation results were compared with those in Simulink. By writing function program in MATLAB,the manipulator to walk straight line and draw a circle trajectory planning was achieved. By building an experimental platform and using dSPACE as a controller, the previous control model was converted into code and imported into it to realize the rapid control of the robot arm. The robot was controlled to make straight lines and draw circles, and the trajectory planning was recorded and the data of the actual robot arm was imported into MATLAB to be drawn. The experimental results show that the maximum tracking error is less than 3 mm when walking in a straight line and a circle, and the control method is feasible and effective.