For large- and small-scale industry, the major issue considered as to obtain the orientation and desire position of robot manipulators. The analysis of robotic manipulation requires two kinds of kinematic analysis namely inverse and forward kinematic analysis. This article aims to frame the inverse kinematic model of 5 DOF and 6 DOF robot manipulator. Planning of a movement flow has been designed followed by the evaluation of all the Denavit –Hartenberg (DH) parameter for the estimation of the desired orientation and position of the end effector. For the inverse Kinematics solution, conventional technique like DH notation, iteration and transformation were being utilized. The trajectory inverse kinematics minimization has been the main objective in this study and it has been achieved by Particle Swarm Optimization PSO. A quintic 5th order polynomial with joint space trajectory has been implemented in this study to find the paths for velocity and acceleration evaluation. Cartesian Trajectory is applied to the shortest path and get the transformation matrix for each intermediate point. Finally, the obstacle avoidance has been exhibited by PSO. The distance velocity, acceleration and angular displacement have been evaluated to analyse the shortest path and obstacle path avoidance.