# \#robot-motion **URL:** https://forum.universal-robots.com/tag/robot-motion/50.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [Robot takes shortest path rather than avoiding joint limit](https://forum.universal-robots.com/t/robot-takes-shortest-path-rather-than-avoiding-joint-limit/816)
**Author:** [@anon52467762](https://forum.universal-robots.com/u/anon52467762)\ **Replies:** 2\ **Last updated:** [May 29, 2017, 2:09am UTC](https://forum.universal-robots.com/t/robot-takes-shortest-path-rather-than-avoiding-joint-limit/816 "2017-05-29T02:09:03Z")
i use UR10 UR software version:3.3.4.310(Dec 06 2016) s/n:2016303598 if current robot base TCP pose is x=-349.43mm y=132.91mm z=348.32mm \[RPY degree\] rx=179.75 ry=2.92 rz=-83.84 if target rz in RPY degree is 9…