Nowadays, robotics is growing rapidly thanks to its huge flexibility and potential in many industrial applications. One of the recurring problems is the collision-free path planning that allows the robot to move from an initial pose to a final pose safely, avoiding all objects in the scene. In COMAU, common planners belonging to the sampling-based category are used for collision-free path planning. To do this, the MoveIt framework is used in which is present the OMPL library that contains many of the sampling-based planners. These planners are fast and effective even in complex environments, however they generate geometric paths that are not optimized and do not consider kinematics constraints.