Abstract : �This research proposes the state of art on how to�control or find the trajectory paths of the RRP robot when the prismatic joint is malfunction. According to this situation, the minimum energy of the dynamic optimization is applied. The RRP robot or similar systems have been used in many areas such as fire fighter truck, laboratory equipment and military truck for example a�rocket launcher. In order to keep on task that assigned, the trajectory paths must be computed. Here, the open loop control is applied and the result of an example show the reasonable solution which can be applied to the controllable system.