Abstract: The purposc of this paper is to study trajectory planning of robots which keep clear of obstacles in the workspaces and follow given paths based on considering the dynamics of robot systems. An algorithm using linear programming is presented under many types of constraints. This algorithm enables succesive adjustment of artificialpotentials and gives desired joint trajectories. The algorithm has been effectively applied to collision-freemovement planning of a measuring robot in a nuclear power station. As an example, the results and 3D graphicssimulation of the collision-free movement planning are given.