There are several ways to approach this, but one of the more common ones is to use minimum-jerk trajectories: http://www.shadmehrlab.org/book/minimum_jerk/mini

There are several ways to approach this, but one of the more common ones is to use minimum-jerk trajectories: http://www.shadmehrlab.org/book/minimum_jerk/minimumjerk.htm http://www.shadmehrlab.org/book/minimum_jerk/minimumjerk.htm