Robotic Arm Valid Coordinates

Wyrażenie 25: "x" equals 0 left brace, "y" greater than or equal to 0 , right brace

This an example lower boundary box

Wyrażenie 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

Wyrażenie 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

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

Wyrażenie 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

Wyrażenie 31: left parenthesis, "a" , "f" left parenthesis, "a" , right parenthesis , right parenthesis

Wyrażenie 32: "a" equals 13.8

Wyrażenie 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

Wyrażenie 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

CALCULATING ARM ANGLES

Wyrażenie 36: left parenthesis, "p" Subscript, 1 , Baseline , "p" Subscript, 2 , Baseline , right parenthesis

FOREARM

Wyrażenie 38: "p" Subscript, 1 , Baseline equals 10

BICEP

Wyrażenie 40: "p" Subscript, 2 , Baseline equals 5.3 7

Wyrażenie 41: "h" equals "p" squared plus "p" squared

Wyrażenie 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

Wyrażenie 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

"x" Subscript, 3 , Baseline	"y" Subscript, 3 , Baseline
0	0	r1c3:
"A" Subscript, "x" , Baseline	"A" Subscript, "y" , Baseline	r2c3:
		r3c3:

"x" Subscript, 4 , Baseline	"y" Subscript, 4 , Baseline
"A" Subscript, "x" , Baseline plus 0	"A" Subscript, "y" , Baseline plus 0	r1c3:
"A" Subscript, "x" , Baseline plus "B" Subscript, "x" , Baseline	"A" Subscript, "y" , Baseline plus "B" Subscript, "y" , Baseline	r2c3:
		r3c3:

Wyrażenie 46: "B" Subscript, "x" , Baseline equals "l" Subscript, 2 , Baseline cosine left parenthesis, "q" Subscript, 1 , Baseline minus "q" Subscript, 2 , Baseline , right parenthesis

Wyrażenie 47: "B" Subscript, "y" , Baseline equals "l" Subscript, 2 , Baseline sine left parenthesis, "q" Subscript, 1 , Baseline minus "q" Subscript, 2 , Baseline , right parenthesis

Wyrażenie 48: "A" Subscript, "x" , Baseline equals "l" Subscript, 1 , Baseline cosine left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis

Wyrażenie 49: "A" Subscript, "y" , Baseline equals "l" Subscript, 1 , Baseline sine left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis

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