Within the modal space, a seamless braking velocity profile is meticulously crafted. Achieving a smooth braking motion is accomplished by independently tailoring the braking velocity profile for each coordinate within the modal space. We revert the crafted modal braking path back to the original space. This reversion of the modal braking path to the original space facilitates the creation of the desired robotic braking motion. The framework is capable of performing all requisite calculations in real-time, encompassing braking control and algorithms for the prediction of stopping trajectories. This capability ensures that the braking action is executed within the confines of each control cycle. In this paper, we tackle the issue of controlling the joint braking of a robot and guaranteeing precise online stopping trajectory prediction. A unified framework for braking control and stopping trajectory prediction is proposed, which is achieved by independently designing a smooth braking velocity curve in the modal space while taking into account the constraints of the actuator and joint space. Two methodologies for crafting braking actions within the modal space have been developed and incorporated. The findings demonstrate that the proposed framework can accomplish smooth and swift braking actions, ensuring the predictability of the robot’s joint stopping behaviors.