Trajectory planning for robot manipulators is very important in achieving high productivity and excellent accuracy. One of the objectives nowadays is the minimum energy consumption due to the increase in the petroleum prices and the difficulty in the supply lines as well. It is the objective of this paper to design the trajectory of the manipulator based on the minimum energy consumption per cycle of the motors running the manipulator. The selected trajectory will be checked also against the jerk as well to ensure that the robot will not vibrate at the beginning and at the end of any task. A seventh-degree polynomial trajectory is selected to study the effect of the jerk on the trajectory and the torques of the joints as well. The proposed trajectory will be checked through a three degree-of-freedom robotic arm in both horizontal and vertical maneuvering.