The invention discloses a trajectory adjusting method and device. The method comprises the steps of obtaining the amplitude change parameters, wherein the amplitude change parameters are used for indicating the amplitude change of a first trajectory point; determining the target rotation deviation amplitude and the target rotation deviation direction according to the amplitude change parameters, wherein the target rotation deviation amplitude is used for indicating the adjustment amplitude of the trajectory point during adjustment, and the target rotation deviation direction is used for indicating the direction of the trajectory point during adjustment; determining the rotation angle and rotation direction of a second trajectory point according to the target rotation deviation amplitude and the target rotation deviation direction, wherein the second trajectory point is a next trajectory point after the first trajectory point is generated; and adjusting the generation trajectory of thesecond trajectory point according to the rotation angle and rotation direction of the second trajectory point. The trajectory adjusting method and device solve the technical problems that much time iswasted and efficiency is low during trajectory modification.