Optimal motion planning is very important to the operation of robot manipulators. Its main target is the generation of a trajectory from start to goal that satisfies objectives, such as minimizing path traveling distance or time interval, lowest energy consumption or obstacle avoidance and satisfying the robot’s kinematics and dynamics. This example shows how to use generalized inverse kinematics to plan a joint-space trajectory for a robotic manipulator. It combines multiple constraints to generate a trajectory that guides the gripper to a cup resting on a table. These constraints ensure that the gripper approaches the cup in a straight line and that the gripper remains at a safe distance from the table, without requiring the poses of the gripper to be determined in advance. We will use a model of the KUKA LBR iiwa, a 7 degree-of-freedom robot manipulator to perform this task. This whole experiment is performed in Matlab using the Robotic system toolbox.