Starting from a brief review about robotics and motion planning, the aim of my work was to program three ABB robots in a predefined industrial environment to perform pick and place tasks, trying to optimize them in terms of cycle time and of trajectories. In this specific case, we are discussing about the presence of three anthropomorphic robots, with 6 degrees of freedom able to guarantee the maximum possible dexterity used to pick and place objects of different types and weights. Articulated or anthropomorphic means that the shoulder has three revolute joints, the first one vertical and the other two horizontal and parallel.