Need to learn about making robot arm follow a trajectory

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Hello dear community members,

In simulation, I build a 3 degree of freedom robot arm and it can go to the target positon of (th1, th2, th3) joint variables.

I need to learn how to make it follow a track to go from point A to point B in space, say to make it write a word. I know this is inverse kinematics but I need some guidance on how to make it practically.

I use SolidWorks for parts design, and MSC ADAMS for simulation. I also build a PD controller to make the robot reach the target and keep stable.

Thank you