Aiming at the problem that it is difficult to synchronize the pose of robot in freeform curve motion, a pose planning method for freeform curve motion of robot was proposed. In this algorithm, the positions of any number teaching points were fitted by using the cubic nonuniform Bspline curve with parabolic boundary, and the attitudes of the teaching points were fitted by using the quadric quaternion spline curve. According to the teaching points, the freeform curve was segmented to obtain the speed planning deceleration points and reduce the machine vibration. For the segmented position curve and attitude curve, a complex Simpson integral was used to obtain the length of the curve and the attitude angle; the sevensection Sshaped velocity planning was carried out for the position curve, and then the time obtained from the position planning was used to the velocity planning for the attitude curve, so the position and attitude with continuous speed and time synchronization were obtained. The experiments show that the algorithm is feasible and efficient.