StefanG
I usually try using joint move wherever it is possible.
Since when using linear move you can come across singularities causing the UR to stop or crash.
About the linear constraints I'm not sure since I haven't used the Simulation yet.
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In which situation is the joint move preferred to the linear move? In addition, in simulation there is the option to use linear constraints on a joint move. (meaning that max velocity and acceleration of the TCP are constrained). Is this option applicable in a real situation and why?