The work aims to ensure the stable working of robotic carton packaging system and improve the packaging quality and efficiency. After the overall planning of the system, the trajectory points of carton packaging system were determined. The trajectory planning of different motion processes respectively in the joint space and Cartesian space was carried out and the interpolation curves of each joint were generated. The simulation experiment on the robot was conducted by virtue of Matlab to generate the angle planning curve of each joint and compare it with the results of trajectory planning. The trajectory planning was verified by the real robot. The interpolation curve of each joint coincided with that of the angle programming. The angle planning curve was smooth. The method for the box robot trajectory planning is feasible, and the results are correct.