Aerial manipulation technology is a burgeoning area within aviation, particularly as the need for multi-trajectory aerial manipulation tasks increases. This chapter presents a novel scheme for an aerial manipulator, complete with a detailed trajectory planning strategy. The kinematics model of the manipulator is meticulously established utilizing the Denavit–Hartenberg (D–H) method and the closed-loop vector method, ensuring a comprehensive understanding of its motion dynamics. Subsequently, the inverse kinematics model is analytically solved, providing a robust basis for trajectory planning. To further refine the manipulator’s operational capabilities, the workspace is determined using the Monte Carlo method, which enables the selection of optimal path points within the manipulator’s reach. These points serve as the foundation for trajectory planning, employing a mixed polynomial interpolation method that combines the benefits of third- and fifth-degree polynomials for smooth and precise motion control. The effectiveness of this approach is validated through numerical simulations, demonstrating that the displacement, velocity, and acceleration curves of the driving joints are not only continuous and smooth but also meet the stringent velocity and acceleration constraint conditions. The absence of sudden changes in these curves is a testament to the planning method’s reliability and efficiency, proving its suitability for real-world applications in aerial manipulation tasks.