Why Does Linear Motion Always Error

Reason

When executing linear motion (movel), circular motion (movec), and other motions that strictly require the end-effector position and orientation to change linearly, the arm's manipulability deteriorates when passing near singular positions and workspace boundaries, causing motion errors.

Solution

• Pay attention to avoid passing near singular positions (joint 3 and joint 5 should avoid being close to 0° and 180°)
• For situations that do not strictly require end-effector position and orientation, use joint motion (movej)
• Use linear motion only in cases like carrying water where end-effector position and orientation are strictly required
• Split long paths into multiple short paths as much as possible