This paper investigates the motion planning problem of planar m-link (m≥4) closed chains among point obstacles with extension to arbitrary convex 2-D obstacles. The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori. Two structural sets. the C-boundaries and the C-obstacles. https://www.collegenotprison.com/product-category/beauty-skincare-and-health-care-products-2/