The invention discloses a transitional tracking
planning method applied by an
industrial robot, which can realize the transition between a joint space track and a cartesian space track, and the transition between two tracks of the cartesian space, the transitional track between different movement tracks are planned under the cartesian space, and has an intuitive shape; by adopting the
algorithm that two parabolas are fused into one transitional curve, the smoothness of the track, speed and acceleration can be ensured, and the
curve shape is controllable; the transitional track is formed by six independent curves, and the transition can be realized on the track with only posture change without position change; from the
engineering application angle, the path velocity of transitional track boundary is restrained by utilizing the included angle between the tracks and the
system allowable chord error, the boundary posture rotation speed is restrained by the similar mode, so that the large
impact on a
mechanical system caused by overhigh engagement speed can be prevented.