I want to control 3 servo motor for X, Y and Z Axis by using G code and also I want to include this motor drive with Arduino Uno but enable to find solution.
No.
You could control 3 servos using G-code but would need to write your own G-code interpreter in order to do so, which would not be an easy task
Well, it depends on what you mean by "servo". If you mean the type of cheap servos originally designed for radio control, these require a variable-length pulse to tell them where to go - converting gcode to this would be tedious.
However if you are using either stepper motors or "stepper-servos" that need a particular number of pulses to make them move a set distance, then you can run GRBL on a UNO which generates pulses from gcode commands.
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