In order to study the variation law of the dynamic characteristics of the robot operating arm, a new robot control model simulation scheme was proposed. The 3D modeling software was used to build the virtual prototype model of the robot. The virtual prototype simulation software ADAMS was used to dynamic modeling and analysis for robot.The reliability of the model was verified by two typical examples.Control of the robot operating arm was studied by using MATLAB and ADAMS co-simulation.The simulation results verify the feasibility of the scheme. It provides reference for collaborative robot control