This paper aims to incorporate the dynamic model into the trajectory planning for a 4-degree-of-freedom articulated manipulator. The trigonometric S-curve trajectory planning methodology minimizes overall trajectory duration while maintaining good smoothness by adopting a modified sine jerk profile. Compared to previous studies, this approach offers significant reductions in execution time, up to 21.6% shorter. However, this method is purely kinematic trajectory planning, focusing on joint positions, velocities, accelerations, and jerks. It may not fully capture the dynamic behavior of the manipulator. The dynamic model is derived using the Lagrange formulation, a powerful tool in robotics that considers the manipulator’s physical properties like masses, inertia, and gravitational effects. By incorporating this model, we can predict joint torque profiles throughout the planned path. This systematic integration of the manipulator’s dynamics into trajectory planning offers valuable insight into torque variations throughout the motion profile, leading to more reliable and efficient motion generation and ultimately improving the performance of the manipulator.