5 axis coordination with acceleration/deceleration is an interesting problem. Maybe consider some of the popular platforms that do this, like the hardware inside a 3D printer. For example:
Since a robot arm has complicated kinematics, and there aren't cheap ways to do the full inverse kinematics at the microstep resolution, one way way folks solve the problem is by breaking complex motion curves into straight-line point-to-point chunks and passing the chunks to an CNC that is optimized to translate the points-to-point path into to smooth acceleration-aware microstep motion control.