Abstract: The application of the composite industrial robot can effectively improve the production efficiency of the intelligent manufacturing shop. In the problem of its motion planning, the initial posture of the manipulator adjusted by the mobile device directly determines whether the target task can be executed reliably. To solve the above problem, a motion planning optimization method considering the initial posture of the manipulator was proposed. Based on the previous foundation, the proposed method solved the kinematics modeling and the minimum obstacle avoidance distance modeling of the composite industrial robot respectively by using screw description and slices characterization methods, which provided the model basis for trajectory optimization. The motion planning optimization model is established to minimize the equivalent energy consumption and the motion time. The hybrid variable set is designed by considering the initial station, including parameters of the mobile device and the manipulator, redundant joint angle. Constraints of kinematic constraints and obstacle avoidance are both considered to guarantee the movement stability and safety of the manipulator. Results indicate that the composite industrial robot based on planning optimization has high operational reliability