Disclosed is a quintic polynomial trajectory planning method for an industrial robot. The method fits, according to start-end displacement, velocity and acceleration information of a trajectory, interpolation time of quintic polynomial trajectory planning using a velocity trend of s-curve trajectory planning, thereby further determining a quintic polynomial trajectory planning model. The proposed quintic polynomial planning method of the present invention determines a planning model based on the velocity running trend of the s-curve trajectory planning. The method can solve the problem in which quintic polynomial curve shapes are not fixed and are prone to twisting, thereby ensuring that velocity change during a planning process is monotonic and that no substantial convexity or reverse conditions occur, and ensuring that the planned trajectory can meet inherent motion parameter limits of the robot at all times from a start point to an end point of the trajectory. In addition, compared to commonly used trapezoidal planning and s-curve planning, the model planning curve is smoother and the trajectory running process is steadier.
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