Industrial robot has great potential in high flexibility manufacturing of complex parts because of its strong flexibility and perception ability.Machining toolpath is an important factor to determine machining efficiency and accuracy in robotic milling.For toolpath planning in robotic machining,not only the existing problems in NC machining should be considered,but also the unique problems such as robot stiffness,positioning accuracy and stability should be considered,so it is more complicated.The research achievements in stiffness enhancement,error compensation and stability optimization in recent years were summarized from the perspective of robotic milling toolpath planning and optimization methods.Finally,the technical development trend in this field was analyzed and prospected.