This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal. smooth. collision-free B-spline path is obtained by the application of a nature-inspired optimization algorithm. https://www.roneverhart.com/Gretsch-G5210T-P90-Electromatic-Jet-Two-90-Single-Cut-Electric-Guitar-w-Bigsby-Mako-p23063/