This function takes four input parameters, the X, Y, and Z coordinates of the desired end position, and the amount of time to reach that position. It then divides the motion into smaller line segments, allowing the robotic arm to accurately and efficiently reach the specified location. The function then moves the robot arm from its current position to the specified end position within the given time frame.
Note: The ranges of X, Y, and Z are interdependent, and modifying one value causes the ranges of the others to update accordingly
