UFactory XARM User Manual page 143

1.5.6 Linear Motion
1.5.6.1 Introduction
Users can control the motion of the robotic arm based on the base
coordinate system and TCP coordinate system. The trajectory of tool
center point in the Cartesian space is a straight line. Each joint performs
a more complex movement to keep the tool in a straight path. The TCP
path is unique once the target point is confirmed, and the corresponding
posture in the execution process is random.
X, Y, and Z control the position of TCP in base or tool coordinate system,
in the unit of mm. While Roll/Pitch/Yaw controls the TCP orientation in
the unit of degree.
Linear motion and arc linear motion belong to the Cartesian space
trajectory planning, which needs to be solved by inverse kinematics.
Therefore, there may be no solution, multiple solutions, and
approximated solutions; and due to the nonlinear relationship between
the joint space and Cartesian space, the joint motion may exceed its
maximum speed and acceleration limits.
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