kinematics motion algorithm

[mkeyno]

hi, sorry to open ticket for my question , but actually I'm little lost to find the methods can convert input location (Cartesian , polar) to the optimized kinematics motions of each axis? for example how to defined the best path from A to B coordinates and how it converted to the cinematic motion for each axis? what is the optimization function & type ?how to define kinematics motion parameters of specific arms? I really appreciated for your hint