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The rapid expansion in the industrial revolution urges for the prompt demand to use the robot arm in various technical aspects especially those that necessitate the availability of high accuracy and productivity. In order to execute the robot arm movement accurately, many swarm algorithm have been upgraded to improve and guide the robot arm. In this paper, PSO algorithm is proposed to achieve the optimal path finding, based on the local searching, exact distances of The D* algorithm and estimated distances of Euclidean distance. The initial function of modified PSO is to create a path that fulfils the aims of motion including, averting obstacles collision, reducing time interval, diminishing the path traveling cost and satisfying kinematics constraints. The free Cartesian space map of 2-DOF arm is constructed by using inverse kinematic to attain the joints variable at each free-collision point. Cubic Polynomial equation …