Why Does Linear Motion Always Report Errors

Reason

Linear motion (movel) strictly requires linear changes in end position and pose. When passing near singular positions and Workspace Boundaries, the arm's flexibility decreases, causing linear motion errors.

Solutions

• Avoid passing near singular positions (Joint 3 and Joint 5 avoid approaching 0° and 180°)
• For cases where end position and pose are not strictly required, it is recommended to use joint motion (movej)
• Use linear motion only in cases that strictly require end position and pose, such as carrying water
• Try to split a long path into multiple short paths