〗Aiming at the problem that the complex surface is difficult to be machined, a processing mode of machining cutting impeller of cutting robot is studied. Taking the single finishing path of the impeller as an example, the feedrate of the cutter, bow height error and cutterorientation and position were planned by the Bspline interpolation algorithm. The movement of cutting robot was simulated using ADAMS. The feedrate of the cutter and trajectory of the cuttingrobot could be smoothly transitioned.The movement of the joints was adjusted adaptively. Finally, the angle, the angular velocity of the joints and their interrelated properties were analyzed. The simulation analysis indicates that the trajectory planning is effective and practical.