Applying 4DOF Model to Robot with L-shaped Elbow Joint

[fmileto]

I am working on a robot with a unique structural design, particularly at the elbow joint which is L-shaped. I would like to know if it's feasible to apply a 4 degrees of freedom (4DOF) model to this robot. My main concern is how the non-standard elbow configuration might affect the motion planning and control algorithms typically used for more conventional robotic arms. Any insights or suggestions on modifications required to adapt the 4DOF model to fit this unusual joint design would be greatly appreciated.

Here is a description of the joint configurations

Joint 1 (J1) initiates at 90° and rotates around the z-axis.
Joint 2 (J2) starts from 0° and moves along the x-axis.
Joint 3 (J3) begins at 180°, also moving along the x-axis.
Joint 4 (J4) starts from 90° and is positioned on the x-axis.
End effector of course is the center of the gripper

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