The invention discloses a motion planning-based adaptive control method for a bridge crane. The method comprises the following steps of: formulating a motion planning, and designing an expected position-time curve for a crane trolley, wherein if the trolley moves along the curve, the trolley can reach a target position relatively quickly, and the load swing angle is in a small acceptable range; meanwhile, adjusting parameters of the trolley aiming at different conditions and requirements so that the maximum transport speed and the acceleration performance of the trolley meet the requirements and constraints of actual working conditions; and designing an adaptive tracking controller, and acquiring a control output by measuring trolley position, speed, load swing angle and angular speed on line in real time. When the resistance parameters such as load quality, sling length, friction and the like of the crane trolley are unknown, the controller can well track the set motion curve, and finally the error, swing angle and control force are fully kept in a small range and finally converged to 0. Therefore, the invention has the advantages of the locus planning and adaptive tracking control method.