Abstract:Trajectory planning is one of the important contents in industrial robot research field. In order to solve the problem of large error caused by the method of linear and arc approximating irregular curve, a NURBS fitting free curve was proposed and the velocity and acceleration of the end of the robot were controlled by using the S shape speed curve, so that the position, speed and acceleration of each interpolation point could be continuous. The angle, angular velocity and angular acceleration of each joint could be obtained by pushing it back into joint space. Finally, with the IRB2600 industrial robot as the simulation ontology, the MATLAB simulation proves that the combination of NURBS and Sshape velocity curve can get continuous and steady trajectory, the velocity curve and the acceleration curve of the joint space. The impact caused by mutation of the joint angle, angular velocity, angular acceleration is weaken and the trajectory of the robot is optimized.