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The mechanical arm motion trajectory optimization control, automatic control to improve the performance of the mechanical arm, in order to improve the robustness of the control arm, put forward a variable structure fuzzy mechanical arm motion trajectory optimization control model based on PID control, the end effector motion planning constraint parameter inverse mathematical model of mechanical arm model, dynamics the mechanical arm motion equation is established with seven degrees of freedom motion space reconstruction method, and then through the longitudinal steady motion analysis to establish the mechanical arm tuning control objective function, solving the mechanical arm in grasping in the process of optimal guidance law, error correction structure using fuzzy PID control method for trajectory of the manipulator, realize the optimization of automatic control. Finally, the control performance is tested by simulation. The results show that the method has high accuracy in the control of the manipulator trajectory, and the prediction accuracy of the trajectory of the manipulator is better.