Abstract: The control and path planning for industrial robots are studied in this paper. First, a two-stage computer control system is developed in which a common memory with 4K is designed between IBM-PC/XT computer and TP-86A single-board-computer. Next, a new method of trajectories planning is presented. It takes the length of manipulators movement as a function describing the moving law of joints. At a corner of a broken line, the quantity of speed reduction changes with the deflection angle. At last, we presented some results of simulation based on the new method, and realized real-time control in LUOTUO-Ⅱ closed-chain robot with 5 degree-of-freedom.