A three-dimensional emitting apparatus comprising: a table on which an object is to be disposed; a robot arm to perform a task on the object; an emitting member provided at an end portion of the robot arm; and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm move relatively in a vertical or horizontal direction, the emitting member moves along a trajectory of rotation of the robot arm, and the trajectory of rotation is inscribed on a sphere having a center at which a target point is disposed, wherein the robot arm comprises: a first central member; a first link member to rotate around a longitudinal axis of the first central member; a first drive member disposed at one end of the first link member to transmit a torque to the first link member; a second link member connected to another end of the first link member to rotate on a first axis; a second drive member disposed between the first link member and the second link member to transmit a torque to the second link member; characterized in that the robot arm further comprises: a third link member connected to a portion of the first central member, the portion differing from a portion to which the first link member is connected, to rotate around the longitudinal axis of the first central member; a third drive member disposed at one end of the third link member to transmit a torque to the third link member; a fourth link member connected to another end of the third link member to rotate on a second axis; and a fourth drive member disposed between the third link member and the fourth link member to transmit a torque to the fourth link member. a table on which an object is to be disposed; a robot arm to perform a task on the object; an emitting member provided at an end portion of the robot arm; and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm move relatively in a vertical or horizontal direction, the emitting member moves along a trajectory of rotation of the robot arm, and the trajectory of rotation is inscribed on a sphere having a center at which a target point is disposed, wherein the robot arm comprises: a first central member; a first link member to rotate around a longitudinal axis of the first central member; a first drive member disposed at one end of the first link member to transmit a torque to the first link member; a second link member connected to another end of the first link member to rotate on a first axis; a second drive member disposed between the first link member and the second link member to transmit a torque to the second link member; characterized in that the robot arm further comprises: a third link member connected to a portion of the first central member, the portion differing from a portion to which the first link member is connected, to rotate around the longitudinal axis of the first central member; a third drive member disposed at one end of the third link member to transmit a torque to the third link member; a fourth link member connected to another end of the third link member to rotate on a second axis; and a fourth drive member disposed between the third link member and the fourth link member to transmit a torque to the fourth link member. a first central member; a first link member to rotate around a longitudinal axis of the first central member; a first drive member disposed at one end of the first link member to transmit a torque to the first link member; a second link member connected to another end of the first link member to rotate on a first axis; a second drive member disposed between the first link member and the second link member to transmit a torque to the second link member; a third link member connected to a portion of the first central member, the portion differing from a portion to which the first link member is connected, to rotate around the longitudinal axis of the first central member; a third drive member disposed at one end of the third link member to transmit a torque to the third link member; a fourth link member connected to another end of the third link member to rotate on a second axis; and a fourth drive member disposed between the third link member and the fourth link member to transmit a torque to the fourth link member.