Choose a joint move when the tool center point (TCP) does not need to follow a straight line. Use a linear move only when the process requires a defined linear TCP path. The available evidence also identifies singularity-related stops or collisions as a practical concern with linear motion, but it does not establish UR10 controller behavior, affected configurations, or recovery details.
Choose the Motion Type from the Path Requirement
| Decision | Joint move | Linear move |
|---|---|---|
| TCP path must be linear | Do not assume the path will be linear | Use when the process requires a linear path |
| Linear path is unnecessary | Prefer where the application permits | Adds a path constraint without a stated process need |
| Singularity concern | Evaluate as an alternative | The evidence reports possible stops or collisions near singularities |
Evaluate Singularities Before Selecting Linear Motion
A practitioner report recommends joint motion wherever the application permits because a linear move can encounter singularities and cause the robot to stop or collide. Treat this as a diagnostic warning rather than a guarantee: the evidence does not identify the robot pose, programmed path, controller response, or conditions that produce either outcome.
If the TCP path must remain linear, simulate the complete path and examine the robot configuration throughout the move. If linearity is not a process requirement, compare the joint-move alternative before commissioning.
Do Not Assume Simulation Constraints Transfer to the UR10
The simulation described in the evidence can apply linear constraints to a joint move by constraining maximum TCP velocity and acceleration. The evidence does not confirm whether the physical UR10 controller supports this option, how it implements the limits, or whether simulated and real trajectories match. Do not treat the simulation setting as deployable until the real controller documentation or an approved controller configuration confirms it.
Verify the Selected Move on the Real System
- State whether the process requires a straight TCP path; select a linear move only when that requirement exists.
- Simulate the full move and check for configurations associated with singularity concerns.
- If using a constrained joint move in simulation, confirm that the real UR10 controller exposes an equivalent capability before transferring the program.
- Validate the resulting path, TCP velocity, TCP acceleration, and clearance on the physical system under controlled commissioning conditions.
FAQ
When should I use a joint move instead of a linear move on a UR10?
Use a joint move when the process does not require the TCP to follow a straight line. The evidence recommends joint motion where possible to reduce exposure to singularity concerns associated with linear moves.
Can a UR10 linear move stop at a singularity?
The evidence reports that linear moves can encounter singularities and may stop or collide. It does not define the triggering pose or controller behavior, so verify the complete path in simulation and during controlled commissioning.
Can I apply TCP velocity and acceleration limits to a real UR10 joint move?
The cited simulation offers linear constraints on maximum TCP velocity and acceleration during a joint move. The evidence does not confirm an equivalent function on the physical UR10, so verify controller support before relying on that setting.
