Ahmad Farih Qolyubie Rosief, Indrazno Siradjuddin, and Hari Kurnia Safitri. “CHESS ROBOT ARM 4 DEGREE OF FREEDOM TRAJECTORY PLANNING WITH INVERSE KINEMATICS METHOD”. Kohesi: Jurnal Sains Dan Teknologi, vol. 1, no. 4, Sept. 2023, pp. 109-1, doi:10.3785/kjst.v1i4.156.