The six-joint robot [1] has high movement flexibility, large working space range, can flexibly bypass obstacles, and has a compact structure and a small footprint. The relatively moving parts on the joints are easy to seal and dustproof, and are widely used in Processes such as loading and unloading, picking, arc welding and painting of machine tools. With the wide application of robots, it is particularly important to study the basic theory, specific structure and technical methods of robot design. The development of power electronics technology, micro-processing technology, control technology and motor manufacturing technology has made the performance of motion control system [2] reach a new level. In the field of transmission, it is often necessary to achieve high-precision position control of the controlled object [3], so industrial robots have a wide range of applications in the field of industrial automation.Most of the current ABB six-joint industrial robots are used on the market. Compared with other similar robots in the fields of material handling, machine loading and unloading, ABB robots have shortened the working cycle by half. At the same time, ABB robots can be mounted in bracket, wall, tilt and inverted, and the installation is very flexible, and ABB The robot has high repeatability, stable structure, long service life and high market share. Therefore, software and hardware system design (kinematics modeling [4], trajectory planning [5]) for ABB robots has very high practical significance.