The first robotic arm was employed in an automotive assembly line in the 1961. Since then, the industrial robots became progressively more widespread and now they can be commonly found even in small manufacturing enterprises. The trajectory planning is an essential aspect of the motion programming for a robotic arm. In collaboration with Comau, it was decided to focus on the study of a particular type of process, namely continuous process. Continuous processes are tasks that require a continuous motion of the tool in terms of positions and velocity profile and are very common in industrial manufacturing. Some examples are arc welding, spray painting and adhesive sealing.