Which motion type is used to move the TCP in a straight line?

The correct answer refers to linear motion, which is specifically designed to move the Tool Center Point (TCP) in a straight line at a constant speed. This type of motion is crucial for applications requiring precision and consistency, such as machining or welding, where a straight path needs to be maintained to ensure the quality of the workpiece.

Linear motion allows for predictable movement along a designated axis, making it essential in various industrial automation tasks. It enables robots and CNC machines to execute movements that are necessary for tasks like cutting or assembling components in a straight trajectory, ensuring accuracy without deviation.

In contrast, circular motion describes a path that follows a curve or arc, making it unsuitable for applications needing straight line motion. Jointed motion involves moving specific joints of a robotic arm independently, which may result in a more complex path rather than a direct line. Random motion suggests unpredictable movement, which would not serve the purpose of executing precise linear tasks. Thus, linear motion is the appropriate choice for straight line movement of the TCP.