关键词: 路径规划，粒子群算法，单纯形算法，机械臂

Abstract: Trajectory Planning Problem (TPP) of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. A hybrid optimization algorithm integrating SA and PSO was presented to address the motion planning problem of robot arms. I}hen the SA-PSO was implemented on a tested example. In addition, a conventional algorithms, namely A* Algorithm (AA)，was introduced to make a comparison with SA-PSO. The computational results show that the developed algorithm is computationally better than the other method.

Key words: Trajectory planning, Particle swarm algorithm, Simplex algorithm, Robot arms