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How can I determine the necessary joint angles given the position of this UR-3 robot?
Here's a paper that includes the derivation of analytical IK solutions for the UR5, but says that the wrist is not spherical.
There's also an implementation of analytical IK here in the ...
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Using MoveIt2 to plan a smooth path consisted of several discretized points to control a UR5e robot
Welcome at RSE.
What do you mean with "smooth", do you have certain constraints or limits you want to consider?
I haven't used MoveIt2 a lot, but have you tried to configure the trajectory ...
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