Programming movement

Hi guys. I have a question. What is the difference between the two? And when do I use what?
Thank you for your help

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Linear movements are used when you need precisely know trajectory, it stresses joints more. Joint movement is used when you are sure there is nothing in the way and you dont really care about trajectory, it also has lower stress effect on joints. Joint movement is usually circular, linear is line from point A to point B

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