There's some serious bias here. There are poor and impoverished people who are not ignorant. There are also ignorant millionaires. The moment you start saying who shouldn't be voting, make sure you realise how many people think you shouldn't be voting either.
At an extreme of that, see what the threshold of "rich" is for people saying "eat the rich".
To answer the question, yes. You absolutely want every single eligible person in the electorate to vote.
Voting is an exercise in representation. People vote based on what they want, not what they know. Desires, dreams, and concerns are not knowledge. Smart people, educated people, still have emotions, can still have hugely different values, and want wildly different things.
The purpose of democracy is to adjudicate between competing desires without violence. If you try to exclude a category of people from this process, you harm its legitimacy and it stops working well for everyone. The end point of that trajectory is revolution.
I can't remember seeing someone raise their hand and say, "I'm too emotional and poorly informed, please take away my right to vote." Wonder why that is.