This study applies the Direct Collocation and Nonlinear Programming (DCNLP) method to lay out the solution for manipulator arm path planning problem. It also demonstrates how DCNLP can efficiently handle the two-point boundary-value problem (TPBVP) by converting a TPBVP into a parameter optimization problem. A three-link manipulator arm, modeled by Lagrange-Euler equation, is used as a vehicle to illustrate the procedures. The manipulator is required to intercept a falling target and a least-energy maneuver sequence control is anticipated. The final time is unspecified and an obstacle sphere is placed in the workspace.