Expresión 44: left parenthesis, "P" Subscript, 1 "x" , Baseline plus "R" cos left parenthesis, "a" Subscript, 1 , Baseline plus "t" "d" Subscript, "a" , Baseline , right parenthesis , "P" Subscript, 1 "y" , Baseline plus "R" sin left parenthesis, "a" Subscript, 1 , Baseline plus "t" "d" Subscript, "a" , Baseline , right parenthesis , right parenthesisP1x+Rcosa1+tda,P1y+Rsina1+tda
valor mínimo del dominio t: 00
less than or equal to "t" less than or equal to≤t≤
valor máximo del dominio t: 11
44
Expresión 45: left parenthesis, "P" Subscript, 2 "x" , Baseline plus "R" cos left parenthesis, "b" Subscript, 1 , Baseline plus "t" "d" Subscript, "b" , Baseline , right parenthesis , "P" Subscript, 2 "y" , Baseline plus "R" sin left parenthesis, "b" Subscript, 1 , Baseline plus "t" "d" Subscript, "b" , Baseline , right parenthesis , right parenthesisP2x+Rcosb1+tdb,P2y+Rsinb1+tdb
valor mínimo del dominio t: 00
less than or equal to "t" less than or equal to≤t≤
valor máximo del dominio t: 11
45
Expresión 46: left parenthesis, "P" Subscript, 3 "x" , Baseline plus "R" cos left parenthesis, "c" Subscript, 1 , Baseline plus "t" "d" Subscript, "c" , Baseline , right parenthesis , "P" Subscript, 3 "y" , Baseline plus "R" sin left parenthesis, "c" Subscript, 1 , Baseline plus "t" "d" Subscript, "c" , Baseline , right parenthesis , right parenthesisP3x+Rcosc1+tdc,P3y+Rsinc1+tdc
valor mínimo del dominio t: 00
less than or equal to "t" less than or equal to≤t≤
