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Inverse Kinematics 2-Link
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Expression 18: theta Subscript, 1 , Baseline equals 0.3 6
θ
1
=
0
.
3
6
0
0
pi
π
18
Expression 19: theta Subscript, 2 , Baseline equals 0.9 3
θ
2
=
0
.
9
3
negative pi
−
π
pi
π
19
Label: left parenthesis, "p" Subscript, "x" , Baseline , "p" Subscript, "y" , Baseline , right parenthesis
p
x
,
p
y
Label:
20
21
powered by
powered by
left parenthesis, 2.2 8 7 4 7 , 2.1 4 5 8 , right parenthesis
2
.
2
8
7
4
7
,
2
.
1
4
5
8
left parenthesis, 1 , 2.6 , right parenthesis
1
,
2
.
6
"x"
x
"y"
y
"a" squared
a
2
"a" Superscript, "b" , Baseline
a
b
7
7
8
8
9
9
over
÷
functions
(
(
)
)
less than
<
greater than
>
4
4
5
5
6
6
times
×
| "a" |
|
a
|
,
,
less than or equal to
≤
greater than or equal to
≥
1
1
2
2
3
3
negative
−
A B C
StartRoot, , EndRoot
pi
π
0
0
.
.
equals
=
positive
+
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