Algorithms of moving of the end of the chain to the given point in space with the taxicab metric

The paper considers the problem of moving a three-link chain with one fixed edge from the initial position to the position in which the second edge is placed in a given point. The initial position is the position at which all chain links lie on the abscissa axis. Moreover, each chain link has a fixed length, but it can bend at an angle of 90 degrees at any point. The paper proposes an algorithm that minimizes the distance between the initial and final positions of the chain, and the distance measure is based on the metric of taxicab geometry.