id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
alkej-551	Raheem, Firas A.; Hameed, Umniah I.	Heuristic D* Algorithm Based on Particle Swarm Optimization for Path Planning of Two-Link Robot Arm in Dynamic Environment	2019	17	.pdf	application/pdf	5938	284	62	Since sin �� is sin �� � √1 & #� � … (4) To solve �� , it has to use the '() �function. The forward kinematics equations are shown below: � � � � cos �� �� � cos��� � ��� … (1) � � � � sin �� �� � sin��� � ��� … (2)	cache/alkej-551.pdf	txt/alkej-551.txt