Aiming at the problems of frequent start and stop in acceleration and deceleration control method with zero first speed and uneven acceleration transition of end-effector in interpolation process, a forward-looking interpolation algorithm for smooth transition of multi-trajectory segments based on asymmetric S-shape acceleration and deceleration control is proposed. The algorithm uses the arc model to smooth the transition at the connecting corner between adjacent track segments. Given the coordinates of the connecting point of the path and the radius of the transition arc, the optimal speed of the connecting arc is planned. A new flexible acceleration and deceleration control algorithm is used to solve the normalization factor in the interpolation algorithm. The algorithm is formed by fitting the cosine acceleration and deceleration curve on the linear acceleration and deceleration curve, which reduces the computation of cosine acceleration and deceleration algorithm, and ensures the stability of acceleration control. The experimental results show that the algorithm can realize the smooth transition at the joint of multiple track segments, ensure the smoothness and continuity of motion speed, and effectively improve the operation efficiency of the terminal actuator.