Abstract: For the purpose of making trajectory plan on 6R robot ABB IRB140, improved form of Denavit-Hartenberg notation was utilized to establish link coordinates and perform forward kinematic analysis, deriving the pose of the end effector relative to the base coordinates, and the inverse kinematic is solved by the analytical method. The trajectory planning and analysis of the robot was carried out according to the quintic polynomial interpolation, and the three-dimensional mathematical model of the robot is constructed by using Matlab-Robotics toolbox to realize the simulation of the robot trajectory planning. The results obtained continuous and smooth joint trajectory and terminal trajectory curve, which verified the correctness and rationality of the kinematics model. It provides theoretical basis and research foundation for robot motion analysis, dynamic control and planning.