Non-collision trajectories of the industrial robot is the key objective when planning its handling cycles. When the robot should move optimally; precise and safely in each situation; it is necessary that every obstacle placed in its transition trajectory would be programmed to avoid. The optimal trajectory means exactly to choose, if possible, the shortest way and the most appropriate for the specific movement to be finished. The task of avoiding obstacles by the industrial robot in its working zone can be solved by various methods and algorithms. The paper shows the use of the kinematics SCARA as a way of avoiding obstacles by a robot in the working zone using the Lee algorithm. The configuration fields and networks are being modelled for the obstacles’ avoidance together with their evaluation and the search for the shortest trajectory reflected in the robot programming.