# Jumping motion in point to point movement

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:

$$d\theta=J^{-1}*(10,0,10)$$

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?

Do you require the end-effector to hit all the via points $$(1,0,1),(2,0,2),...(9,0,9)$$? Or do you simply want a lower speed as your end-effector swings towards its destination (with no regard for the path traced out by the end-effector)? If it's the latter, you could set an upper limit to the velocity in your motion planner.

If you want to hit all the via points and have a smooth continuous motion, make sure the velocities obtained from the polynomial trajectories at those points are non-zero.