Taking PUMA560 robot as the research object, kinematics analysis of this model robot is carried out. Firstly, a kinematics model is established to solve the forward and inverse kinematics equations of the robot. Secondly, three methods (cubic polynomial interpolation, quintic polynomial interpolation and five-segment s-curve interpolation) were used to plan the robot’s trajectory. The three methods are analyzed and compared, and finally it is concluded that the fivesegment position S curve interpolation trajectory planning method can make the robot run more stable and have better motion characteristics, so that it can reach the desired pose quickly and smoothly, and finally complete the assigned task.