Bezier functions is applied to path planning for robot in joint coordinates in order to handle path segmentally and be used in real-time control. Besides

the optimal model on time-minimal Bezier path planning for robot is presented. The physical constraints on joint trajectory velocity

acceleration

jeak and torques are considered in this model. The optimization algorithm is proposed. Finally an example on Bezier path optimization for PUMA560 robot pre-3 joint is presented for illustration. The optimum control model was enhanced.