Motion planning of redundant robot manipulators is a difficult problems encountered in the field of robotics. In this paper, we use Forward Kinematic and Optimal Control to avoid singularity problem in motion planning that use Inverse Kinematic to compute. It is a large quantity of computing in searching optimal result process, due to this reason, we use Genetic Algorithm and Particle Swarm Optimization Algorithm to reduce complexity and use parallel computing architecture of GPU(CUDA) to improve computing speed.