Which motion type would you use to move to a pose while keeping the tool orientation fixed?

• A. LIN motion.
• B. PTP motion.
• C. Circular motion.
• D. Skew motion.

Answer: (A)

A linear move is used when you want to reach a pose while keeping the tool orientation fixed. It travels along a straight line in Cartesian space from the current pose to the target pose, and the orientation of the end effector remains constant throughout the move. This is exactly what you need when the direction the tool is facing must not change as you approach the target.

In contrast, a point-to-point move reaches the target pose by steering through joint motions, and the path isn’t constrained to be a straight line; the orientation can change along the way. A circular move follows an arc, which inherently involves changes in position along a curve and typically changes orientation as you progress. Skew motion isn’t the standard method for holding orientation fixed to a pose.