There are basically two different types of movement.

When the robot just has to fulfill tasks in specific positions the moving type PTP (Point-To-Point) is used. If the robot has to fulfill path driven tasks, e.g. using a tool along the path curve, that must be welded, deburred or coated, the best control method is the path control.

PTP- movement
For movements with PTP interpolation every robot axis moves between starting point and the end of a movement, without a defined path for the tool tip.

Path control
When controlling the path, the movement of the axes is controlled, so that the tool tip is controlled directly over the designated path. The path can either be described by lines, by circles or by segments of the circles.

Types of Interpolation
Point-to-Point- (PTP-) Interpolation	Path Interpolation
	Linear Interpolation	Circular Interpolation