Can we find the trajectory that the UR Robot follows? We have access to the command function but what path has been configured in the Robot firmware that allows the robot to move in a particular trajectory.
Hi @zswattoo,
Welcome to the UR community. I am not sure if you have any specific cases that you are asking about. In general the URSim is a powerful tool that will generate the same target path as the real robots:
https://www.universal-robots.com/download/software-e-series/simulator-non-linux/offline-simulator-e-series-ur-sim-for-non-linux-5130/
https://www.universal-robots.com/download/software-e-series/simulator-linux/offline-simulator-e-series-ur-sim-for-linux-5130/
I hope that will give you your answer!
Ebbe
Thank you Ebbe for your response. I am looking for getting the locations of the trajectory - the path the robot follows rather than just getting the target location to which the robot moves.
That makes a lot of sense. When you have the simulator running the movements that you are interest in. You can either make a URScript the record the pose for each time slot, utilize the RTDE interface or making a flight report via the dashboard server.
Ebbe
Hi,
Check out my videos, I talk there about following minimum jerk trajectory 
Maybe it will be of some help