1. A method of planning a path of a robot, the method comprising: forming, by at least one processor, a configuration space having a start point, a goal point and obstacle information in order to generate a motion path of a manipulator of the robot; connecting, by the at least one processor, a certain point randomly sampled in the configuration space and a node having a smallest goal score to obtain a sample g new satisfying a constraint including obstacle avoidance; projecting, by the at least one processor, the sample g new in consideration of a dynamic constraint; adding, by the at least one processor, a projection sample g projected to extend a tree; and connecting, by the at least one processor, the start point and the goal point by the extension of the tree to generate the path responsive to the dynamic constraint.