1. A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm, said method comprising using a robot control system to: receive a plurality of process points, each process point being a location wherein the arm is to be positioned to perform a task; calculate one or more inverse kinematic solutions for each process point; cluster the inverse kinematic solutions into a set of clusters; and generate collision free paths between the clusters in the confined configuration space.