Arm Setpoint

表达式58: "c" Subscript, 4 , Baseline equals 0.1 7 7 8

negative 10

表达式59: "m" Subscript, 4 , Baseline equals 0.6 3 5 0 2 9

negative 10

表达式60: "l" Subscript, 4 , Baseline equals 0.2 1 5 9

negative 10

表达式61: polygon left parenthesis, left parenthesis, "l" Subscript, 1 , Baseline cos left parenthesis, "o" Subscript, 1 , Baseline , right parenthesis plus "l" Subscript, 2 , Baseline cos left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis minus "c" Subscript, "y" , Baseline cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus "c" Subscript, "x" , Baseline sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus 1000 left brace, "c" greater than 0 : 0 , 1 , right brace , "l" Subscript, 1 , Baseline sin left parenthesis, "o" Subscript, 1 , Baseline , right parenthesis plus "l" Subscript, 2 , Baseline sin left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus "c" Subscript, "y" , Baseline sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus "c" Subscript, "x" , Baseline cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis , right parenthesis , left parenthesis, "l" Subscript, 1 , Baseline cos left parenthesis, "o" Subscript, 1 , Baseline , right parenthesis plus "l" Subscript, 2 , Baseline cos left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis minus left parenthesis, "c" Subscript, "y" , Baseline plus "h" Subscript, 1 , Baseline , right parenthesis cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus left parenthesis, "c" Subscript, "x" , Baseline plus StartFraction, "l" Subscript, 4 , Baseline Over 2 , EndFraction , right parenthesis sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus 1000 left brace, "c" greater than 0 : 0 , 1 , right brace , "l" Subscript, 1 , Baseline sin left parenthesis, "o" Subscript, 1 , Baseline , right parenthesis plus "l" Subscript, 2 , Baseline sin left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus left parenthesis, "c" Subscript, "y" , Baseline plus "h" Subscript, 1 , Baseline , right parenthesis sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus left parenthesis, "c" Subscript, "x" , Baseline plus StartFraction, "l" Subscript, 4 , Baseline Over 2 , EndFraction , right parenthesis cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis , right parenthesis , left parenthesis, "l" Subscript, 1 , Baseline cos left parenthesis, "o" Subscript, 1 , Baseline , right parenthesis plus "l" Subscript, 2 , Baseline cos left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis minus "c" Subscript, "y" , Baseline cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus left parenthesis, "c" Subscript, "x" , Baseline plus "l" Subscript, 4 , Baseline , right parenthesis sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus 1000 left brace, "c" greater than 0 : 0 , 1 , right brace , "l" Subscript, 1 , Baseline sin left parenthesis, "o" Subscript, 1 , Baseline , right parenthesis plus "l" Subscript, 2 , Baseline sin left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus "c" Subscript, "y" , Baseline sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis plus left parenthesis, "c" Subscript, "x" , Baseline plus "l" Subscript, 4 , Baseline , right parenthesis cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis , right parenthesis , right parenthesispolygonl1coso1+l2coso2−cycosπ2−o2l>0:0,1+o3+cxsinπ2−o2l>0:0,1+o3+1000c>0:0,1,l1sino1+l2sino2+ cysinπ2−o2l>0:0,1+o3+cxcosπ2−o2l>0:0,1+o3,l1coso1+l2coso2− cy+h1cosπ2−o2l>0:0,1+o3+cx+l42sinπ2−o2l>0:0,1+o3+1000c>0:0,1,l1sino1+l2sino2+ cy+h1sinπ2−o2l>0:0,1+o3+cx+l42cosπ2−o2l>0:0,1+o3,l1coso1+l2coso2−cycosπ2−o2l>0:0,1+o3+cx+l4sinπ2−o2l>0:0,1+o3+1000c>0:0,1,l1sino1+l2sino2+ cysinπ2−o2l>0:0,1+o3+cx+l4cosπ2−o2l>0:0,1+o3

表达式62: "A" Subscript, 2 "c" , Baseline left parenthesis, "a" Subscript, 1 , Baseline , "a" Subscript, 2 , Baseline , right parenthesis equals StartAbsoluteValue, negative pi left brace, "a" Subscript, 1 , Baseline less than 0 : 1 , 0 , right brace plus arcsin left parenthesis, StartFraction, "l" Subscript, 2 , Baseline cos "a" Subscript, 2 , Baseline plus "c" Subscript, 4 , Baseline cos "a" Subscript, 1 , Baseline Over StartRoot, "l" squared plus "c" squared minus 2 times "l" Subscript, 2 , Baseline times "c" Subscript, 4 , Baseline times cos ( StartNestedFraction, pi NestedOver 2 , EndNestedFraction minus "a" Subscript, 2 , Baseline plus StartNestedFraction, pi NestedOver 2 , EndNestedFraction minus "a" Subscript, 1 , Baseline ) , EndRoot , EndFraction , right parenthesis , EndAbsoluteValue

表达式63: "A" Subscript, 3 "c" , Baseline left parenthesis, "a" Subscript, 1 , Baseline , "a" Subscript, 2 , Baseline , "a" Subscript, 3 , Baseline , right parenthesis equals StartAbsoluteValue, negative pi left brace, "a" Subscript, 1 , Baseline less than 0 : 1 , 0 , right brace plus arctan left parenthesis, StartFraction, "l" Subscript, 1 , Baseline cos "a" Subscript, 3 , Baseline plus "l" Subscript, 2 , Baseline cos "a" Subscript, 2 , Baseline plus "c" Subscript, 4 , Baseline cos "a" Subscript, 1 , Baseline Over "l" Subscript, 1 , Baseline sin "a" Subscript, 3 , Baseline plus "l" Subscript, 2 , Baseline sin "a" Subscript, 2 , Baseline plus "c" Subscript, 4 , Baseline sin "a" Subscript, 1 , Baseline , EndFraction , right parenthesis , EndAbsoluteValue

表达式64: "c" Subscript, "t" 1 , Baseline left parenthesis, "x" , right parenthesis equals "m" Subscript, 4 , Baseline times "g" times StartRoot, left parenthesis, "l" Subscript, 1 , Baseline times cos left parenthesis, "x" , right parenthesis plus "l" Subscript, 2 , Baseline times cos left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus "c" Subscript, 4 , Baseline times cos left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared plus left parenthesis, "l" Subscript, 1 , Baseline times sin left parenthesis, "x" , right parenthesis plus "l" Subscript, 2 , Baseline times sin left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus "c" Subscript, 4 , Baseline times sin left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared , EndRoot times StartAbsoluteValue, sin ( "A" Subscript, 3 "c" , Baseline left parenthesis, left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , "o" Subscript, 2 , Baseline , "x" , right parenthesis ) , EndAbsoluteValue left brace, left parenthesis, "l" Subscript, 1 , Baseline cos "x" plus "l" Subscript, 2 , Baseline cos "o" Subscript, 2 , Baseline plus "c" Subscript, 4 , Baseline cos left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis less than 0 : negative 1 , 1 , right brace left brace, "c" greater than 0 : 1 , 0 , right brace

表达式65: "c" Subscript, "i" 1 , Baseline left parenthesis, "x" , right parenthesis equals "m" Subscript, 4 , Baseline times left parenthesis, left parenthesis, "l" Subscript, 1 , Baseline times cos left parenthesis, "x" , right parenthesis plus "l" Subscript, 2 , Baseline times cos left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus "c" Subscript, 4 , Baseline times cos left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared plus left parenthesis, "l" Subscript, 1 , Baseline times sin left parenthesis, "x" , right parenthesis plus "l" Subscript, 2 , Baseline times sin left parenthesis, "o" Subscript, 2 , Baseline , right parenthesis plus "c" Subscript, 4 , Baseline times sin left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared , right parenthesis left brace, "c" greater than 0 : 1 , 0 , right brace

表达式66: "c" Subscript, "t" 2 , Baseline left parenthesis, "x" , right parenthesis equals "m" Subscript, 4 , Baseline times "g" times StartRoot, left parenthesis, "l" Subscript, 2 , Baseline times cos left parenthesis, "x" , right parenthesis plus "c" Subscript, 4 , Baseline times cos left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared plus left parenthesis, "l" Subscript, 2 , Baseline times sin left parenthesis, "x" , right parenthesis plus "c" Subscript, 4 , Baseline times sin left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared , EndRoot times StartAbsoluteValue, sin ( "A" Subscript, 2 "c" , Baseline left parenthesis, left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , "x" , right parenthesis ) , EndAbsoluteValue times left brace, left parenthesis, "l" Subscript, 2 , Baseline cos "x" plus "c" Subscript, 4 , Baseline cos left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis less than 0 : negative 1 , 1 , right brace left brace, "c" greater than 0 : 1 , 0 , right brace

表达式67: "c" Subscript, "i" 2 , Baseline left parenthesis, "x" , right parenthesis equals "m" Subscript, 4 , Baseline times left parenthesis, left parenthesis, "l" Subscript, 2 , Baseline times cos left parenthesis, "x" , right parenthesis plus "c" Subscript, 4 , Baseline times cos left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared plus left parenthesis, "l" Subscript, 2 , Baseline times sin left parenthesis, "x" , right parenthesis plus "c" Subscript, 4 , Baseline times sin left parenthesis, "o" Subscript, 3 , Baseline plus "o" Subscript, 2 , Baseline left brace, "l" greater than 0 : 0 , 1 , right brace , right parenthesis , right parenthesis squared , right parenthesis left brace, "c" greater than 0 : 1 , 0 , right brace

表达式68: "c" Subscript, "t" 3 , Baseline left parenthesis, "x" , right parenthesis equals "m" Subscript, 4 , Baseline times "g" times "c" Subscript, 4 , Baseline times StartAbsoluteValue, sin ( "A" Subscript, 1 , Baseline left parenthesis, "x" , right parenthesis ) , EndAbsoluteValue times left brace, StartFraction, pi Over 2 , EndFraction less than "x" less than StartFraction, 3 pi Over 2 , EndFraction : negative 1 , 1 , right brace left brace, "c" greater than 0 : 1 , 0 , right brace

表达式69: "c" Subscript, "i" 3 , Baseline left parenthesis, "x" , right parenthesis equals "m" Subscript, 4 , Baseline times "c" squared left brace, "c" greater than 0 : 1 , 0 , right brace

forces

技术支持

Lock Wrist =

negative 1

Flip =

negative 1

Cone =

8.0 1

0.8 5

negative 41.2