Planning motion trajectories for manipulator robots involves determining the optimal sequence of movements for the mechanism to complete a task. Various methods are used for this, including those based on joint and Cartesian coordinate spaces. Joint coordinate space is a set of coordinates that fully describe the position of the mechanism in space. In manipulator robotics, these coordinates are the joint angles. The use of joint space simplifies the task of planning the motion trajectory of a manipulator robot. Planning trajectories in joint space involves generating the laws of joint coordinate variation to move the mechanism through a sequence of specified configurations. The article presents an approach to solving the problem of minimizing the time it takes for a manipulator to pass through a set of configurations, taking into account kinematic constraints imposed on mobility.