Linear move

How it is used

One of the basic motion instructions, named MoveL, LIN or L depending on the brand. It is used for approaches and for welding and gluing paths. The other basic type is the joint move (MoveJ, PTP or J), which is faster but does not follow a straight line.

Example sentences

1. Use a linear move for the last 50 mm so the gripper goes straight down onto the part.

2. The linear move failed because the path went through a singularity.

Common collocations

• linear motion
• joint move
• MoveL instruction
• linear speed
• circular move

Related terms

• tool center pointThe reference point at the working tip of the robot's tool, such as the tip of a welding wire or the center between gripper fingers. The robot moves and positions this point.
• jointA connection between two parts of a robot arm that allows movement. A revolute joint rotates and a prismatic joint slides in a straight line; each joint is usually one axis.
• waypointA point the robot passes through on its way to a target, used to shape the path and keep the arm away from obstacles. It is not a position where work is done.
• singularityA robot pose in which two or more axes line up, so the arm loses a degree of freedom and some joints would have to turn extremely fast to follow a straight path.
• trajectoryThe path a robot or axis follows together with its timing, meaning where it is and how fast it moves at each moment between the start and the end.

More terms: Robot Programming

• teach pendant
• jog
• teach
• home position
• pick and place
• offline programming
• speed override
• ROS