The spatial trajectory and pose planning of manipulator is often completed by interpolation calculation. In order to realize spatial curve trajectory and pose planning, a kind of method is put forward that the pose of the eoat in discrete points of the spatial circular curve is obtained, and Cardan angles are worked out and fitted in Matlab by calculating discretely the Frenet frame of the spatial circular curve expressed by the parameter equation. Based on the parameters of the Kawasaki BA006N six degree of freedom manipulator body mechanism, a manipulator simulation platform is built in Adams. The driving functions including the spatial circle parameter equation and the fitting Cardan angle parameter equation are applied to the eoat as the general driver. The simulation analysis shows that the spatial circular curve trajectory and pose can be traced well by the eoat. The angular displacement, the angular velocity, the angular acceleration and the torque of the six joints of the manipulator are extracted by Adams. This method not only avoids the inverse kinematics calculation, but also provides a new method for the design of the control system and the planning of other spatial curves and surfaces.