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This paper presents a trajectory planning method that provides a continuity of position, velocity, acceleration and jerk. The method combines fifth-order and fourth-order polynomials in order to satisfy the continuity of jerk and give smooth accelerations on all segments of the planned trajectory. The proposed method was tested for movements of the three-axes planar articulated robot. The method includes limits of the velocities, accelerations, and jerks of each robot joint. Simulation results are presented and compared with the results obtained by the original Ho and Cook spline-interpolation method.