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In order to improve the work efficiency and guarantee the joints’ smooth movement of industrial robots, this paper proposes a scheme of time-jerk optimal trajectory planning based on PSO(particle swarm optimization) algorithm. First, the multi-objective optimization is transformed into single-objective optimization by the approach of weighting. Then, the time-jerk optimal trajectory is obtained by using PSO algorithm. And the trajectory planning is fulfilled in joint space coordinate by quintic non-uniform B-spline interpolation, and which can guarantee the jerk curves’ continuity. Finally, this scheme is applied to GRB4016—an industrial robot. The simulation results show that this scheme can generate ideal trajectory, and demonstrate the effectiveness of the proposed scheme.