The main goal of this publication is to create a methodology for generating movements for robotic arms with the purpose of realizing Robot Additive Manufacturing (RAM). Additive manufacturing, encompassing a wide range of technologies, is a modern manufacturing method that has seen a rapid increase in popularity in industrial sectors, research, development and even in the everyday consumer sector. Continuous research in the field of additive manufacturing has led to the emergence of new technologies and applications, significantly expanding its use across various industrial sectors. One of these technologies is Robot Additive Manufacturing (RAM). For the successful realization of the desired product through additive manufacturing, a key factor is not only the correct setting of process parameters but above all, precise and efficient movements of the device that will be used for this kind of manufacturing. In conventional 3D printers, the process of generating movements and process parameters is achievable through standardized methods and available software solutions. In the case of additive manufacturing using industrial robots, this process is usually fundamentally different. Generating accurate, smooth, and efficient movements for robotic arms is crucial for the successful realization of RAM. This scientific publication aims to define methods for generating movements for the robotic arm for the purpose of realizing RAM. The goal is to generate movements for various printing methods described in this publication and using a variety of materials for printing such as plastics, concrete, or metal. Subsequently, integrate the generated movements into the robotic arm and verify the proposed methodology at an experimental station with the ABB IRB 120 robotic arm.