In the trajectory planning of robotic manipulators, nonuniform rational B-splines (NURBS) are well-known parametric curves with exact representation of various freeform curves as well as common profiles such as lines, parabolas, circles, etc. In this chapter, the fundamentals of NURBS are firstly introduced, and then, an approach is presented to trajectory reparameterization w.r.t. time for generation of geometric path and motion laws. Trajectory planning of the illustrative parallel SCARA robot is illustrated numerically, where quintic NURBS curves are adopted to synthesize the trajectory, aiming at continuity of the robot velocity, acceleration and jerk. Real-time and off-line programmed trajectory planning is carried out respectively, where the influence of time intervals of curve segments and curve weights onto the robot performances are studied.