# Smooth trajectory planning given a random path

**URL:** <https://forum.universal-robots.com/t/smooth-trajectory-planning-given-a-random-path/12151>\
**Category:** URScript\
**Created:** [February 5, 2021, 5:22am UTC](https://forum.universal-robots.com/t/smooth-trajectory-planning-given-a-random-path/12151 "2021-02-05T05:22:57Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon89559953](https://avatars.discourse-cdn.com/v4/letter/a/b5ac83/32.png) [@anon89559953](https://forum.universal-robots.com/u/anon89559953)\
**Post date:** [February 5, 2021, 5:22am UTC](https://forum.universal-robots.com/t/smooth-trajectory-planning-given-a-random-path/12151/1 "2021-02-05T05:22:57Z")

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Hi, I am trying to do trajectory planning for ur5, trying to get a smooth trajectory given a path. As I was searching through the net, I got hold of some methods like phase synchronized trajectory planning given a path.

I was hoping to ask if someone could give me insight on how to go about trajectory planning for any given random path.