Aiming at the problem of impact and vibration at the corner between micro segments in the workspace of parallel robot,a joint-space trajectory planning method based on Cartesian space and joint space was proposed.In essence,the complex machining trajectory of robot is to approximate the target curve by using small straight line segments.The cubic non-uniform rational B-splines (NURBS) curve was used to interpolate the complex machining trajectory of the end effector in robot Cartesian space.In order to solve the problem of sudden change of trajectory caused by tangential discontinuity at the corner between small line segments in Cartesian space,based on the inverse kinematics model of the parallel robot,the interpolation points obtained by the Cartesian space trajectory planning algorithm were mapped to the joint space,and the quintic uniform B-spline curve was used for the second trajectory interpolation in the joint space,smoothing the abrupt curves of acceleration and jerk during the movement of the parallel robot.Finally,the effectiveness of the proposed algorithm was verified at the dynamic level.The simulation results show that the joint spatial trajectory planning strategy can be used to make the robot end effector better improve the trajectory smoothing problem caused by continuous high-order curvature derivatives and improve the end tracking accuracy.The experimental results show that the end tracking error is reduced by 21.12% and the maximum torque is reduced by 11.65%.