This chapter discusses the trajectory planning of robot. First, the basic principle of trajectory planning is described, which is mainly determined by the geometric path and the motion law, and it is a motion law that defines time according to a given geometric path. Second, the characteristics of the joint space and the operational space are expounded. Then the trapezoidal trajectory and the trajectory with S velocity profile commonly used in industrial practice are introduced. Finally, point-to-point trajectories and multipoint trajectories are described. Point-to-point trajectories include a point-to-point trajectory in the joint space and a straight-line and circle trajectory in the operational space. Multipoint trajectories include Bezier and NURBS curves functions.