The industrial robot is more and more common conveyance in the manufacturing systems. More and more widespread use of computer aided process engineering means is observed due to the high equipment idle time cost, which makes development of machining programs possible without employment of the physical equipment. Results of analysis carried out reveal that the off-line robots programming systems vulnerability are the weak mechanisms for the collision-free path planning among the objects. For lack of an effective tool for the automatic planning of the robots safe trajectories programmer has to anticipate always a possibility of collisions, therefore, the path programming time is extended significantly. Lack of algorithmization of the decision making process referring to the assumed tool path causes that the robot program quality is dependant, in the first place, on its programmer's experience. All issues mentioned above were the reason for an attempt to develop the effective robots programming aid tool in the area of the automatic planning and optimization of the safe trajectories. The following chapters describe concepts, methods and practise application for solving these problems.