Скачать или смотреть ROBOTS MOTION TYPES (KUKA, ABB, COMAU)

LINEAR: In linear movement, the tool is guided from the starting point to the endpoint in a straight line, with the orientation defined by the TCP (Tool Center Point).

JOINT: The robot guides the TCP along the fastest path to the endpoint. The fastest path is generally not the shortest path and, therefore, is not a straight line. Since the motions of the robot axes are rotational, curved paths can be executed more quickly than straight paths. The exact path of the motion cannot be predicted.

CIRCULAR: Circular path motion is defined by a starting point, auxiliary point, and endpoint. The TCP or the tool is guided from the starting point to the endpoint, with the orientation defined by the TCP.
These are basic movements of any industrial robot, but it is necessary to pay attention to the manufacturer's programming syntax as each one may have its own.