The algorithm proposed in this thesis gives to the user the possibility to plan a trajectory in the task space in which he can handle the trade-off mentioned above, in order to obtain a result the more possible near to his expectations. To reach this objective I started from the work in [2], in which a combined use of B-Spline and a cascade of FIR( nite impulse response) lters is made in order to obtain a smooth curve which interpolates the given via-points, and i tried to optimize it, through a combined use of NURBS curves and a pre-elaboration on the points.