수식 52: "u" left parenthesis, "x" , "y" , right parenthesis equals min left parenthesis, "x" minus "j" Subscript, 0 , Baseline , "d" Subscript, "l" "i" "n" "e" , Baseline left parenthesis, "x" , "y" , 0 , 0 , "l" , 0 , right parenthesis , "d" Subscript, "l" "i" "n" "e" , Baseline left parenthesis, "x" , StartAbsoluteValue, "y" , EndAbsoluteValue , "j" Subscript, 1 , Baseline , 0 , "j" Subscript, 1 , Baseline plus "l" Subscript, 1 , Baseline cos left parenthesis, "a" , right parenthesis , "l" Subscript, 1 , Baseline sin left parenthesis, "a" , right parenthesis , right parenthesis , "d" Subscript, "l" "i" "n" "e" , Baseline left parenthesis, "x" , StartAbsoluteValue, "y" , EndAbsoluteValue , "j" Subscript, 2 , Baseline , 0 , "j" Subscript, 2 , Baseline plus "l" Subscript, 2 , Baseline cos left parenthesis, "a" , right parenthesis , "l" Subscript, 2 , Baseline sin left parenthesis, "a" , right parenthesis , right parenthesis , right parenthesis minus 0.0 5ux,y=minx−j0,dlinex,y,0,0,l,0,dlinex,y,j1,0,j1+l1cosa,l1sina,dlinex,y,j2,0,j2+l2cosa,l2sina−0.05
52
수식 53: "u" left parenthesis, "h" Subscript, "p" , Baseline left parenthesis, "x" , "y" , right parenthesis cos left parenthesis, StartAbsoluteValue, mod left parenthesis, "a" Subscript, "t" 2 , Baseline left parenthesis, "y" , "x" , right parenthesis , StartFraction, pi Over 3 , EndFraction , right parenthesis , EndAbsoluteValue minus StartFraction, pi Over 6 , EndFraction , right parenthesis , "h" Subscript, "p" , Baseline left parenthesis, "x" , "y" , right parenthesis sin left parenthesis, StartAbsoluteValue, mod left parenthesis, "a" Subscript, "t" 2 , Baseline left parenthesis, "y" , "x" , right parenthesis , StartFraction, pi Over 3 , EndFraction , right parenthesis , EndAbsoluteValue minus StartFraction, pi Over 6 , EndFraction , right parenthesis , right parenthesis equals 0uhpx,ycosmodat2y,x,π3−π6,hpx,ysinmodat2y,x,π3−π6=0
53
수식 54: absolute value left parenthesis, "u" left parenthesis, "h" Subscript, "p" , Baseline left parenthesis, "x" , "y" , right parenthesis cos left parenthesis, StartAbsoluteValue, mod left parenthesis, "a" Subscript, "t" 2 , Baseline left parenthesis, "y" , "x" , right parenthesis , StartFraction, pi Over 3 , EndFraction , right parenthesis , EndAbsoluteValue minus StartFraction, pi Over 6 , EndFraction , right parenthesis , "h" Subscript, "p" , Baseline left parenthesis, "x" , "y" , right parenthesis sin left parenthesis, StartAbsoluteValue, mod left parenthesis, "a" Subscript, "t" 2 , Baseline left parenthesis, "y" , "x" , right parenthesis , StartFraction, pi Over 3 , EndFraction , right parenthesis , EndAbsoluteValue minus StartFraction, pi Over 6 , EndFraction , right parenthesis , right parenthesis , right parenthesis minus 0.0 1 equals 0absuhpx,ycosmodat2y,x,π3−π6,hpx,ysinmodat2y,x,π3−π6−0.01=0
