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The wait in the "move joint" command indicates whether it is necessary
to wait for the execution of this command before sending the next
command.
Note: If you need to plan for speed continuous motion, make sure wait =
false, to buffer the commands to be blended.
2.2.2. Linear Motion and Arc Linear Motion
2.2.2.1. Linear Motion
Characteristics of Linear Motion
The concept of linear motion
• Straight linear motion between Cartesian coordinates (unit: mm),
the speed is not continuous between each command.
• 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
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