The work aims to design a trajectory planning method based on Tau-jerk motion strategy to control the motion of six-degree-of-freedom robot, so as to improve the efficiency of packaging and meet the needs of mass packaging. First of all, a theoretical analysis on Tau-jerk motion strategy was done. Then, the velocity and acceleration curves of the 6-DOF robot obtained by simulation were smooth and continuous. The derivative of the acceleration was also continuous, and the velocity and acceleration at starting point and ending point were zero. By comparing with the fifth order polynomial interpolation method, the smoother velocity and acceleration curves were obtained and the drive torque was smaller. Taking the time optimization as the goal, the adaptive genetic algorithm was applied to optimize the generated trajectory. The total motion time of the manipulator was reduced from 12 s to 7.058 s, and the time was shortened by 41.18%, which achieved the optimization effect. Validated on the experimental platform of KUKA Youbot robot, the proposed method can improve the packaging efficiency.