Abstract:With the manipulators of the multifunction casting robot of the research, the trajectory planning about the casting carry is designed by the Descartes interpolations. To optimize and obtain motion parameter curves about the joint positions and velocity, the joint movement was solved by utilizing multi-arm coordination constraints and pseudo-inverse methods. The continuous and smooth trajectory which were found by the MATLAB software simulation, could be controlled accurately. Finally, the trajectory curves of end actuator of multi-arm, obtained by the forward kinematic equations, prove the correctness of algorithm and satisfy the casting-handling requirements.