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Understanding Robotic Arm Movements: Joint Move vs. Linear Move

Updated: Apr 25


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In the realm of robotic arms, mastering the two fundamental types of movements—Joint

Move (move J) and Linear Move (move L)—is essential for achieving precision,

efficiency, and safety in automated processes. Let's explore the differences between these two movements and their implications for robotic applications.


Joint Move (move J)

Joint Move, or move J, allows the robotic arm to move between points without specifying a predefined path. Instead, the robot selects the most "convenient" path, resulting in a smooth trajectory. Here are some key points about move J:

- Smooth Trajectory: The robot autonomously determines the path between points, resulting in a smooth movement.

- Singularities Avoidance: The robot automatically avoids singularities, enhancing

operational safety.

- Flexible Kinematics: Ideal for movements that don't require a specific trajectory, providing more kinematic possibilities.

- Joint Positioning: Determined primarily by the position of the joints.


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### Linear Move (move L)

Linear Move, or move L, involves moving the robotic arm along a perfectly linear path between points. Here's what you need to know about move L:

- Linear Trajectory: Movement between points follows a straight line, offering

precision but requiring careful planning to avoid collisions.

- Singularities Handling: The robot doesn't automatically avoid singularities,

necessitating manual intervention for safety.

- Defined Trajectory: Best suited for tasks that demand a precisely defined

trajectory, such as picking up or putting down details.

- Blending for Smoothness: Blending points significantly smoothens movement,

emphasizing the importance of accurately defining blending radii.

- TCP Positioning: Primarily determined by the position of the Tool Center Point

(TCP).



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### Considerations and Conclusion

Understanding the differences between move J and move L is crucial for optimizing robotic arm performance. Each type of movement has its strengths and considerations, catering to different application requirements.

While move J offers flexibility and smoothness, move L provides precision and control over trajectory. Careful consideration of factors such as collision avoidance, singularities handling, and blending radii is essential when choosing between these movements.


At https://www.devonics.com we recognize the importance of mastering robotic arm movements to unlock the full potential of automation in various industries. Whether you're seeking guidance on selecting the right movement type or exploring advanced robotics solutions, our team is here to assist you.

Have thoughts or questions about robotic arm movements? Feel free to reach out to us—we'd love to hear from you!


PS: While this discussion focuses on move J and move L, there are several other types of movements in robotics, each with its unique applications and considerations.

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