Abstract:In order to better control of industrial robot to carry out accurate operations, taking Puma560 industrial robot as an example, using the DH notation to analyze the structure and the parameter of the connecting rod of industrial robot, kinematics equation is established. The method of the cubic polynomial interpolation was used to plan trajectory of robot joint angle. On the basis of analysis of the industrial robot kinematics model, a method is proposed which expressed the robot’s joint movement precision and robot’s motion precision through calculation of trajectory fitting of the robot, for further improving the robot motion precision research provides a theoretical basis.