Aimed at the problem that robots in high-precision manufacturing industry have poor adaptability and cannot be reused, reconfigurable industrial robots were applied to manufacturing industry.A method for determining kinematics parameters of reconfigurable 6-DOF robots was proposed for different configurations of robots. The transformation relationship between single module coordinate system and inter-module coordinate system was defined. The information related to the configuration change of the robot was stored in a special library. The position and orientation of the end-effector in Cartesian space were dynamically generated by a reconfigurable forward motion module. A trajectory planning method for robots based on 5-3-5 spline curve was proposed. The trajectory planning equations of single spline curve and multi-spline curve were established to solve the optimal trajectory under different parameters, which ensures that the generated trajectory is continuously differentiable in position and speed,and the trajectory has a zeroorder continuous jerk at the beginning and the end. The trajectory tracking was simulated by MATLAB, and the result was compared with that of other trajectory tracking error control methods. The simulation results show that the proposed trajectory planning method has good control accuracy and can make the robot run smoothly without vibration.