In order to ensure the smooth and high-speed operation of the heavy-duty truss robot system,to reduce the dynamic impact caused by sudden changes in acceleration and jerk then to improve the motion accuracy of the truss robot, the speed equations of the three speed control methods commonly used in motors were analyzed and derived. The equations were verified by ADAMS simulation software. The simulation results show that the five-time function speed control curve is more gradual than the S-curve and sinusoid, the acceleration value is significantly reduced, and the jerk variation is small.The quintic function speed control curve requires less torque for the required motor and contributes to cost savings.