Abstract: In this paper,an efficient method of joint trajectory planning for industrial manipulator is developed,hav-ing considered the dynamic constraint of the system.In this method,the matrix norm theory is applied tosimplify the dynamic equations of manipulator.The normalized joint coordinates and movement time areadopted and its trajectory equations are optimized by nonlinear programming algorithm.Then,the trajectoryequations of normalized parameter are used to generate real trajectory of manipulator.When each subtravel-ling initial and final point coordinates are given,the minimum movement time of the manipulator can be de-termined through the dynamic constraint equations,the real trajectory of the manipulator can be obtained.The application of these results for joint trajectory planning of a three-joint revolute manipulator are demon-strated by computer simulation.Finally,it is emphasis that the method can be used in Planning joint trajecto-ry of manipulator on-line.