[Purposes] A real time configuration planning algorithm is proposed in this paper to generate the smooth end trajectory of an industrial robot such that its end feed speed can be controlled. [Methods] Firstly, the path planning method based on non-uniform B-spline and the attitude planning method based on unit quaternion are combined to fit the position and posture teaching points to obtain the position and posture trajectory parameters of the robot end. Then, the tangential velocity at the end of the robot is planned based on the S-type curve. Finally, according to the corresponding relationship between curve length and parameters, the end configuration is calculated in real time. [Findings] The planned robot end path passes through all teaching points, the curve length and parameter fitting error are less than 0.01 mm, the end velocity is continuous, and the attitude transition under spherical spline interpolation is smoother under the same other conditions. [Conclusions] When the robot moves along the pose path specified by the algorithm, the end speed is controllable and the joint transition is smooth, which verifies the effectiveness of the algorithm.