“…The first case was presented by Acharyya and Mandal (2009). The authors of this paper considered the synthesis with timing defined by data given in tab 1 tab 1 = (0, 0, 0.5236), (1.9098, 5.878, 1.0472), (6.9098, 9.511, 1.5708), (13.09, 9.511, 2.0944), (18.09, 5.878, 2.618), (20, 0, 3.1416) The input geometric constraints were:…”