Aiming the case that vibrations and shocks of micro rescue robot parts caused by the unsmooth locomotion of micro rescue robot, in order to ensure the smoothness of the micro rescue robot trajectory and no collision, eventually to arrive the desired position and orientation, based on the basis of the kinematics and dynamics, according to the micro rescue robot joint movement characteristics, trajectory planning use the D-H method and the track is divided into acceleration, constant speed, and the deceleration three motion segments to discuss, this is of great significance to solve the smooth of micro rescue robot to work in different environments and real-time control and accuracy problems.