Calculate ABB robot joint path with Grasshopper/Taco

I work with ABB articulated robot arms connected to external axes.

For its programming, a custom software in C# was developed.

The inverse and normal kinematics are already implemented in the software.

The next step is to make the software calculate the joint path (MoveJ/MoveAbsJ) of the robot and simulate it, so for this reason I’m searching for some kind of DLL where the start / end positions can be sent and a list of points given back (with robot axis values) where the robot will pass during the movement.

I wonder if such DLL is available anywhere or if anyone may have some helpful information, as I believe it is only a fragment of what developers do with the collision avoidance.

Is it maybe possible to use Grasshopper or Taco to achieve this?