The authors within the scientific contribution present the optimization of the trajectory of an industrial robot in selected systems. The thesis deal with the task of creating collision-free trajectories of industrial robots, based on the geometric information describing the configuration space with respect to the possibility of robot kinematic. There are introduced the basic methods of exact and probabilistic motion planning. Loading, processing and parameterization of 3D objects. Using algorithms for testing of collisions and visibility. Design of the basic trajectory, which is later optimized to achieve the minimum distance traveled between origin and destination point of travel.