In　the　previous　study,　the　minimum　time　and　energy　have　been　both　considered　to　improve　the　efficiency　and　reliability　of　the　manipulator　operations.　For　further　guaranteeing　the　tracking　precision　of　end　effector,　a　TE-E　optimal　planning　technique　is　presented　in　this　paper　to　optimize　the　trajectory　of　end　effector.　TE-E　means　two　optimization　objectives　and　one　constraint　condition:　T　is　the　total　motion　time,　the　first　E　is　the　total　kinetic　energy　consumption　and　the　second　E　is　the　motion　error　due　to　trajectory　planning.　In　this　technique,　a　local　optimization　process　is　completed　to　find　a　time-energy　optimal　trajectory,　which　could　improve　the　movement　efficiency　and　reliability.　In　this　local　process,　the　screw　theory　is　used　to　obtain　the　forward　and　inverse　kinematic　models　for　simplifying　the　computation.　The　multi-solution　situation　in　inverse　kinematic　is　considered.　The　modified　cubic　spline　interpolation　is　applied　in　the　joint　space　to　obtain　the　good　motion　stability.　The　objective　function　is　defined　as　the　weighted　sum　of　two　optimization　objectives.　The　local　optimal　trajectory　is　obtained　by　using　the　particle　swarm　optimization　(PSO)　algorithm.　Finally,　the　motion　errors　are　considered　as　a　condition　to　determine　the　number　of　the　path　points　and　obtain　the　final　optimal　trajectory　that　has　good　tracking　precision.　The　simulation　experiment　for　QJ-1　welding　manipulator　is　completed　to　verify　the　reliability　and　validity　of　this　technique.　In　the　optimal　trajectory,　the　relationships　between　the　motion　time　and　parameters　for　each　joint　show　a　good　performance　in　the　motion.　The　comparison　of　motion　errors　obtained　by　using　the　previous　and　presented　methods　proves　the　validity　of　this　presented　technique.