Nowadays, special-purpose 4-DOF palletizing robots are mostly used in palletizing scenes in production process, which have poor versatility and flexibility. In order to improve the generality and flexibility of the robot in palletizing process and to realize palletizing of 6-DOF serial robot, according to the modified D-H method, a fixed coordinate system was established at the end of each joint of UR5 robot, and the forward kinematics transformation matrix and inverse kinematics expression of UR5 were derived. By using trapezoidal speed control, the motion law of the linear track part in the palletizing process was determined, the coordinate conversion relationship of the arc track part and the moving process of the robot end in the palletizing process were determined. The end trajectory of the robot was planned in space and simulated. The motion curves of each joint were drawn, indicating that the robot run smoothly in the palletizing process.It has reference significance for the research of palletizing of 6-DOF serial robot.