LinuxCnc and Industrial Robot?

I have/had KUKA industrial robots welding and paletizing bricks and sacks with sand, but they used a stripped down version of winxp.
And there are some robots here on this forum running LinuxCNC, just search for Scara robot. Also there should be some configs included with LinuxCNC so you can download the ISO, write it to a USB and boot from it, then run LinuxCNC in sim mode, some sim configs also have visualization so you can see on screen the machine moving.
As for toolpaths, it depends on what you need, some stuff can be done as simple as for a normal router/engraver/plotter, some might need specialized CAM software.

See the config
sim/axis/vismach/puma
for an example config including a graphical representation of the simulated robot.

Note that getting the Denavit-Hartenberg parameters exactly right is not a trivial task if they are not provided. (and there are two different conventions for them)

There are a few examples out there. Look on YouTube.
For example: