Avaldis 25: "x" equals 0 left brace, "y" greater than or equal to 0 , right brace On graafik. Kõnesüntesaatori aktiveerimiseks vajutage ALT+T.x=0y≥0
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This an example lower boundary box
26
Avaldis 27: "y" equals "r" left brace, "x" greater than or equal to 0 , right brace left brace, "x" less than or equal to "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right brace On graafik. Kõnesüntesaatori aktiveerimiseks vajutage ALT+T.y=rx≥0x≤l2−l1
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Avaldis 28: "x" equals "r" left brace, "y" greater than or equal to 0 , right brace left brace, "y" less than or equal to "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right brace On graafik. Kõnesüntesaatori aktiveerimiseks vajutage ALT+T.x=ry≥0y≤l2−l1
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For even more simplicity, we will cut out the lower x range so that we don't have a cutout near the base. Alternatively, you can make the boundary horizontal matching the top of the above box if you need to go up to the origin
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Avaldis 30: "x" Subscript, 1 , Baseline equals "r" left brace, "y" greater than or equal to 0 , right brace left brace, "y" less than or equal to StartRoot, left parenthesis, "l" Subscript, 2 , Baseline plus "l" Subscript, 1 , Baseline , right parenthesis squared minus left parenthesis, "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right parenthesis squared , EndRoot , right brace On graafik. Kõnesüntesaatori aktiveerimiseks vajutage ALT+T.x1=ry≥0y≤l2+l12−l2−l12
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MOVE ME: left parenthesis, "a" , "f" left parenthesis, "a" , right parenthesis , right parenthesis equals left parenthesis, 13.8 , 8.0 9 6 9 1 2 9 9 2 , right parenthesis On graafik. Kõnesüntesaatori aktiveerimiseks vajutage ALT+T.a,fa
Nimetus:
equals=
left parenthesis, 13.8 , 8.0 9 6 9 1 2 9 9 , right parenthesis13.8,8.09691299
Avaldis 33: "y" less than or equal to "f" left parenthesis, "a" , right parenthesis left brace, "x" greater than or equal to "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right brace left brace, "x" less than or equal to "a" , right brace left brace, "y" greater than or equal to 0 , right brace On graafik.y≤fax≥l2−l1x≤ay≥0
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Avaldis 34: "x" less than or equal to "a" left brace, "y" greater than or equal to 0 , right brace left brace, "y" less than or equal to "f" left parenthesis, "a" , right parenthesis , right brace left brace, "x" greater than or equal to "r" , right brace On graafik.x≤ay≥0y≤fax≥r
34
CALCULATING ARM ANGLES
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GRIPPER POINT: left parenthesis, "p" Subscript, 1 , Baseline , "p" Subscript, 2 , Baseline , right parenthesis equals left parenthesis, 10 , 5.3 7 , right parenthesis On graafik. Kõnesüntesaatori aktiveerimiseks vajutage ALT+T.p1,p2
Nimetus:
equals=
left parenthesis, 10 , 5.3 7 , right parenthesis10,5.37
Avaldis 42: "q" Subscript, 2 , Baseline equals cosine to the negative 1st power left parenthesis, StartFraction, left parenthesis, left parenthesis, "h" , right parenthesis minus "l" squared minus "l" squared , right parenthesis Over 2 times "l" Subscript, 1 , Baseline times "l" Subscript, 2 , Baseline , EndFraction , right parenthesis equals 1.6 3 0 5 2 4 3 3 3 0 9q2=cos−1h−l21−l222·l1·l2
equals=
1.6 3 0 5 2 4 3 3 3 0 91.63052433309
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Avaldis 43: "q" Subscript, 1 , Baseline equals arc tangent left parenthesis, "p" Subscript, 2 , Baseline , "p" Subscript, 1 , Baseline , right parenthesis plus arc tangent left parenthesis, "l" Subscript, 2 , Baseline sin left parenthesis, "q" Subscript, 2 , Baseline , right parenthesis , "l" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline cos left parenthesis, "q" Subscript, 2 , Baseline , right parenthesis , right parenthesis equals 1.5 6 7 4 8 5 8 7 8 2 4q1=arctanp2,p1+arctanl2sinq2,l1+l2cosq2
