Abstract: During solving inverse kinematics problems of welding robot, there are often multiple solutions or even no solution. A reverse-driving trajectory planning method based on ADAMS and MATLAB was put forward to overcome the above disadvantages. With the non-uniform rational B-splines (Non-Uniform Rational B-Splines, NURBS) as curve fitting tool, the kinematics simulation of welding robot was carried out. The results show that,compared to the sinusoidal curve and five-degree polynomial and other traditional planning algorithm, the joint angular displacement curve achieved by reverse-driving trajectory planning algorithm with NURBS was much better, the displacement error of manipulator in each direction was as small as less than 1 mm. Therefore, the desired trajectory of welding robot could be a-chieved quickly and accurately. This paper provided a new method for trajectory planning of welding robot.