This paper researches into actual robot trajectory planning system (RTP-1) helped with the idea of evolutionary computation, and provides a kind of dynamic coding scheme with multi-level stucture, optimizes the distance, path and the displacement of link angles respectively by low, middle, and high level evlutionary algorithms, and solves the problem of engineer optimization with multi-goal and multi-restrain based on the multi-level optimization strategy, and establishes a currency scheme of sequence-correlated problem solving. It accelerates the process of robot trajectory planning by take advantage of Lamarck effect. This paper has realized the reasonable trajectory planning with arbitrary space lines or curves on the robot of PM-501. The realized process of trajectory planning has a fine stability, the adjacent arm-configurations has a fine flexibility and the sequence of arm-configurations has a fine flatness. The method of robot trajectory planning used in this paper can be generalized to apply in different kinds of dynamic systems.