I'm develop a scara arm 2 DOF with inverse kinematics, works fine at any desired point, but how can I draw a line? until now, drawed lines point by point taken from inverse kinematics inverse, there is another efficient algorithm for do this? regards

I'm developing a 2 DOF SCARA with inverse kinematics. It works fine at any desired point, but how can I draw a line? Is there an efficient algorithm to do this?