Robot motion is analyzed and planned for conveyor tracking considering the speed of the conveyor belt and the locations of the part and the robot. The joint torque limit, joint velocity, acceleration, and jerk limits of the robot are taken into account in the motion analysis and planning. To include the robot arm dynamics, the problem is formulated as second order state equations using a parametric function. The conveyor tracking problem is then converted to an optimal tracking problem. The solution that minimizes the specified performance index is obtained using the dynamic programming approach. Numerical examples are presented to demonstrate the significance of the proposed method for conveyor tracking of the robot in a workcell.