Transition trajectory planning method and device of industrial robot, terminal equipment and medium

The invention discloses a transition trajectory planning method and device for an industrial robot, terminal equipment and a medium, and the method comprises the steps: obtaining a first starting point pose and a first terminal point pose corresponding to a first trajectory of the industrial robot, and obtaining a second terminal point pose corresponding to a second trajectory of the industrial robot, one of the first section of track and the second section of track belongs to a Cartesian space track, and the other belongs to a joint space track; generating a transition track taking the first end point pose as a center based on the first starting point pose and the second end point pose; and dividing the transition trajectory into a plurality of linear trajectories, and performing Cartesian space trajectory planning on the industrial robot based on the third starting point pose and the third terminal point pose corresponding to the plurality of linear trajectories. According to the invention, the working effi