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Journal of Advanced Technology and Multidiscipline
This paper presents self-motion behaviors of 3-DOF planar robotic arm when it tracks a predefined end-effector path. In this case, the self-motion contributes to geometry of a motion envelope. The Bezier curve degree fifth is utilized as the tracked path. Different geometry of the motion envelope can be used to avoid collision while it also follows the tracked path accurately. A theta global as closed form solution of 3-DOF planar robot is modeled as a polynomial degree sixth. A Geneticdoi:10.20473/jatm.v1i1.39600 fatcat:2wi2w5hbozbfza3ad56dcz7yw4