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Now-a-days robots have occupied a space for themselves in user's daily routine life. Modern robots are proficient to execute the complex tasks from like Space Exploration, Nuclear Inspection, Manufacturing, etc to the simple tasks like pick and place. The robots are developed to execute their specified task in the 3-D space. The end-effector of the robot is designed in such a way that it follows the desired trajectory within its working environment. For the accurate functioning of the robot the control over each links and joints is to be ensured. The position and orientation of the end-effector should be precisely controlled to obtain the smooth functioning of the robot.
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