Generate trajectory between 2 points to achieve a desired momentum

I need to plan path for robotic arm(having a tennis racquet as end-effector) whose aim is to hit a tennis ball in a specific direction(to return ball to the opponent). Now I have an algorithm which moves the arm to the position(in the desired position and orientation of the racquet) where ball is expected to be(in a linear path shown in image below) . But the racquet just touches the ball because there is no momentum. Due to this, the ball falls nearby and does not reaches the opponent.

In the image below:

• Red Dot -> Starting position of end effector.
• Dark Blue Dot -> End position of end effector.
• Pink Line -> The desired orientation(face of the racquet) to hit the ball.
• Dotted Light Blue Line -> Desired ball trajectory after being hit by the racquet.
• Green Line -> Current trajectory.

I need to find a curvy trajectory(how humans hit the tennis ball, how they generate a swing) between 2 given points to achieve a desired momentum at the end point so that the ball can reach the opponent. Refer the desired trajectory image below.

In the image below:

• Red Dot -> Starting position of end effector.
• Dark Blue Dot -> End position of end effector.
• Pink Line -> The desired orientation(face of the racquet) to hit the ball.
• Dotted Light Blue Line -> Desired ball trajectory after being hit by the racquet.
• Green Line -> Desired trajectory.

In this image, the green trajectory is expected to generate a better momentum in the desired direction(the light blue line).

QUESTION:

• How to generate trajectory between 2 points to achieve a desired(or maximum) momentum at the end point(second point)?
• What about accounting for spin? top, side makes SO much difference Commented Jul 12 at 8:28
• @SolarMike What do you mean by spin? What i need is just a path and to follow the path i already us Inverse Kinematic solver. Commented Jul 12 at 8:31
• Go hit the white on a billiards table with top, side, bottom and understand the effects. Or watch footballers who curve the ball due to where they hit it. Commented Jul 12 at 8:33
• @SolarMike Got you point. If you mean to account for spin in the ball after being hit by the racquet, then i think it would be very complex for now. For now we would be just hitting the ball directly in the direction where we want it to land. We wont be using any strategic hit to swing the ball(like in case of a footballer who curve the ball). We just need the path which the end effector must follow to hit the ball from the front. without considering what happens next. Commented Jul 12 at 8:45