Based on the trajectory optimization problem of industrial robots under multi-objectives such as time,energy,and impact optimization,a multi-objective optimization method was used for research.The seven B-spline interpolation curve was adopted to construct the continuous trajectory of the industrial robot and the parameters at both ends could be set,which ensured the motion performance of the industrial robot.Then an improved genetic algorithm was used to optimize the industrial robot,and the result was Paretos optimal solution set.The simulation results on a self-developed 6-DOF industrial robot show that the seven B-spline interpolation can be used to get continuous robot trajectory,and the improved genetic algorithm can make the B-spline trajectory perform effective multi-object optimization,then a good Pareto frontier is obtained.