Engineering Motoman Certification Practice Exam

MOVJ specifies motion in joint space. It commands the robot to move its joints to target angles, interpolating the joints simultaneously. The resulting path of the end effector in Cartesian space is not guaranteed to be a straight line; it follows the coordinated joint movements, which is why this is described as joint motion.

In contrast, linear motion would move the end effector along a straight line in Cartesian space, and circular or arc motions describe curved paths in Cartesian space. So MOVJ is the joint-space interpolation type of move.