In order to solve the timeconsuming problem of NSGA-II algorithm in optimizing manipulator trajectory, a time impact trajectory planning optimization method was proposed. The interpolation curve was constructed in joint space by using the uniform quintic B-spline function, and the objective function was solved iteratively by using Newton method under the condition of motion constraint. The simulation results show that Newton method and Aitken acceleration method are combined to optimize the time and impact of quintic B-spline interpolation trajectory planning, the optimization time is decreased, it is ensured the impact under kinematic constraints is smaller and the movement time of the manipulator is reduced, so the motion control performance of the manipulator is improved.