One of the most typical tasks assigned to the parallel SCARA robots is pick-and-place operations. To evaluate the different SCARA systems, a uniform gate-shaped test trajectory is usually selected as the test benchmark, thus, the synthesis of a smooth curve to implement the test trajectory applied to SCARA systems is a common trajectory design task. The symmetrical test trajectory includes two square corners between its vertical and horizontal segments, which are sources of discontinuities in terms of velocity and acceleration. This chapter aims to smooth the corners to provide motion continuity throughout the test trajectory in the Cartesian space, to serve as a test-cycle for either serial or parallel SCARA systems for the execution of pick-and-place operations, where clothoid and B-spline curves are selected for synthesis of the test trajectory.