One of the main challenges in physics today is to merge quantum theory and the theory of general relativity into a unified framework. Various approaches towards developing such a theory of quantum gravity are pursued, but the lack of experimental evidence of quantum gravitational effects thus far is a major hindrance. Yet, the quantization of space-time itself can have experimental implications: the existence of a minimal length scale is widely expected to result in a modification of the Heisenberg uncertainty relation. Here we introduce a scheme that allows an experimental test of this conjecture by probing directly the canonical commutation relation of the center of mass mode of a massive mechanical oscillator with a mass close to the Planck mass. Our protocol utilizes quantum optical control and readout of the mechanical system to probe possible deviations from the quantum commutation relation even at the Planck scale. We show that the scheme is within reach of current technology. It thus opens a feasible route for tabletop experiments to test possible quantum gravitational phenomena. ; Comment: 11 pages, 3 figures, 2 tables