I am working on a Human-robot collaborative environment. As I see in ISO 15066, the constraint for max velocity of the TCP, is enough in order to ensure safety, at least for free transient contacts (figure A.4). In ROBODK, there is the option to set linear constraints for a joint motion (at least for a UR10 robot), meaning that max velocity and acceleration of the TCP are constrained. Does this make any sense? The reason I am asking is that, the time for the joint motion is now greater than the one of a linear, as for the same points. So, what are the benefits using a joint move over a linear, while having linear constraints?Thank you in advance!