Abstract: A method is presented to discompose the desired trajectory into a set of reference postures using Haar wavelet in terms of meeting the dynamic constraint. A virtual robot is set up according to the set of reference postures. Then a velocity-tracking control law based on control Lyapunov function to force the robot to follow the virtual robot. The evident advantages of the proposed method are that the desired trajectory can be any complex nonlinear curve and there is no speed-jumping phenomenon. The experimental results illustrate the effectiveness of the method.