Robot arm model

Uttryck 17: "Y" equals 1.7 6 8

negative 10

Etikett: left parenthesis, "X" , "Y" , right parenthesis

Etikett:

equals

left parenthesis, 1.2 , 1.7 6 8 , right parenthesis

Gömd Etikett: left parenthesis, "L" Subscript, 1 , Baseline cos "a" plus "L" Subscript, 2 , Baseline cos left parenthesis, "a" plus "b" , right parenthesis , "L" Subscript, 1 , Baseline sin "a" plus "L" Subscript, 2 , Baseline sin left parenthesis, "a" plus "b" , right parenthesis , right parenthesis

Etikett

equals

left parenthesis, 1.7 5 2 7 1 0 7 8 , 1.2 2 2 2 2 2 9 5 , right parenthesis

Uttryck 20: "c" equals StartFraction, "X" squared plus "Y" squared minus "L" squared minus "L" squared Over 2 "L" Subscript, 1 , Baseline "L" Subscript, 2 , Baseline , EndFraction

equals

negative 0.1 0 8 5 4 4

Uttryck 21: "s" equals StartRoot, 1 minus "c" squared , EndRoot

equals

0.9 9 4 0 9 1 6 4 5 7 0 7

Uttryck 22: "a" equals "A" left parenthesis, StartFraction, negative "X" "L" Subscript, 2 , Baseline "s" plus left parenthesis, "L" Subscript, 1 , Baseline plus "L" Subscript, 2 , Baseline , right parenthesis "c" "Y" Over "L" squared plus "L" squared plus 2 "L" Subscript, 1 , Baseline "L" Subscript, 2 , Baseline "c" , EndFraction , StartFraction, left parenthesis, "L" Subscript, 1 , Baseline plus "L" Subscript, 2 , Baseline "c" , right parenthesis "X" plus "L" Subscript, 2 , Baseline "Y" "s" Over "L" squared plus "L" squared plus 2 "L" Subscript, 1 , Baseline "L" Subscript, 2 , Baseline "c" , EndFraction , right parenthesis

equals

negative 0.5 8 6 7 2 7 4 9 1 8 9 5

Uttryck 23: "b" equals "A" left parenthesis, "s" , "c" , right parenthesis

equals

1.6 7 9 5 5 4 6 0 5 4 3

driven av

left parenthesis, 1.2 , 1.7 6 8 , right parenthesis