In order to ensure the smooth and efficiency of the manipulator in moving process, a timejerk optimal hybrid strategy was proposed for the trajectory planning of explosive ordnance disposal（EOD）robot when target capturing. Every pair of consecutive viapoints were connected through a cubic spine, and the best time interval was searched to optimize the capture trajectory between points. The results show that the trajectory of joint space moving is very smooth, and sharp change of volecity and acceleration is avoided, so the wear of machine structure is reduced and viberation is under control. The simulation in operating space of target capturing shows that the EOD robot arm can obey the predefined trajectory and strategy accomplishing the orientation adjustment in prefetch point, smoothly approaching and capturing the target without interference.