I have one question about point to point movement.
Let's say the end-effector is placed at $(0,0,0)$ and the goal position is at $(10,0,10)$. The corresponding joint angle value changes $d\theta$ can be computed using an inverse kinematic solver as follows:
In this case, the computed joint angle value changes will make the robot jump from $(0,0,0)$ to $(10,0,10)$. I tried to prevent this jumping motion by dividing the goal position into $(1,0,1)$ so that the robot can slowly move towards the goal. Will there be other effective methods?