The increasing demands of a modern industry require the usage of industrial machines to perform various tasks with complex profiles. Tasks are usually given by a set of motion trajectory via-points; thus the geometric path representation and the proper reparameterization of the trajectory with respect to time are necessary. This study presents a kinematically constrained reparameteriz... https://www.roneverhart.com/L-Homme-Ideal-Cologne-by-Guerlain/