In order to make the industrial robot have a more stable trajectory, an efficient transition processing method was proposed for the transition problem between two adjacent segments in multi axis linkage trajectory planning. According to the dynamically given position sequence, number of blocks with look ahead, ranges of velocity and acceleration of the axes, combined with backward look ahead technique and forward planning method, a novel dynamic trajectory planning kernel algorithm with look ahead for multi axis linkage was proposed. On the basis of this algorithm, the trapezoidal velocity curve planned by the algorithm was transformed into S-shaped velocity curve by using S-shaped filter. To verify the performance of the proposed algorithm, the joint position sequence of a 6-DOF industrial robot was collected and simulated.