This paper mainly studied the joint type arc length parametric industrial robot trajectory planning method. Using the approximation of the arc length parametric curve interpolation method to end the robot trajectory parameters for arc such as discrete interpolation point sequence, the displacement of each joint point by solving inverse kinematics of robot sequences adopts the method of the limit of velocity and acceleration of each joint planning. This method is effective to avoid the joint space interpolation calculation and jacobin matrix calculation. In matlab7.8 platforms, the instance simulation is carried out on the above theory. The simulation results show that the trajectory planning method is feasible.