In this paper a novel method for planning point-to-point robot trajectories will be introduced. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place and the workspace is considered to be constrained. This new method is based on the synchronized links motion with a constant ratio of the link angle positions. The proof that any PTP motion can be carried out under this constraint will be provided. The new method of synchronized motion will be illustrated at hand of some examples and compared with conventional methods.