The paper focuses on the enhancement of automatic robot programming techniques for laser cutting application. Such technology has already gained essential industrial acceptance, but its application for small lot production is limited by tedious and time-consuming process of robot programming. Currently, even sophisticated graphical simulation systems does not allow to optimize robot motion using multiple criteria, and taking into account redundancy caused by the tool axial symmetry. Particular contribution of the paper lies in the area of multiobjective optimisation of robot motions via graph representation of the search space and dynamic programming procedures. It have been developed algorithms that allow to generate smooth manipulator trajectories within acceptable time, simultaneously considering kinematic, collision and singularities constraints of the robotic system, as well as the limitations of the robot control units. The efficiency of the algorithms has been carefully investigated via computer simulation. The presented results are implemented in a commercial software package and verified for real-life applications in automotive industry.