The traditional live-working method is very easy to cause people to die, and the use of live-working robots instead of manual work is an effective solution. A self-developed modular six-degree-of-freedom robot is adopted for live-working robot. Firstly, the expressions of inverse solutions are deduced by inverse transformation method, and the optimal solution is selected according to the weighted "shortest travel" criterion and the collision detection method based on cylinder envelope. Then,

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... straight-line trajectory planning of Cartesian space is carried out. Finally, the correctness of the trajectory planning algorithm is verified by MATLAB, which provides a theoretical basis for further dynamic research of live robot.