This paper discusses the problem of trajectory planning for robotic manipulators at minimal cost. The paper deals with problems of obstacle avoidance during the manipulation and technological activities of the industrial robot. A system has been designed to find a trajectory that is both collision-free and of minimal distance. The goal is to reduce workplace costs with the robot and thus increase the efficiency of the robotized production cell. The work is mainly focused on the optimization of trajectory by planning the shortest path between robot targets. Also, when a trajectory is generated, the dynamic effects on the industrial robot are taken into account. Task solving isuniversaland is designed for several types of robot kinematic structures. The task comes under off-line robot programming.