Dynamic singularities make it difficult to plan the Cartesian path of freefloating robot. In order to avoid its effect. the direct kinematic equations are used for path planning in the paper. Here. https://www.spidertattooz.com/1969-Ford-Mustang-Black-Metallic-with-Pink-Stripes-and-Wheels-Pink-Slips-Series-1-32-Diecast-Model-Car-by-Jada/