Uttryck 13: "E" Subscript, 1 , Baseline equals 1 half left parenthesis, "x" Subscript, 1 , Baseline plus "x" Subscript, 2 , Baseline , right parenthesis plus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis Over 2 "R" squared , EndFraction left parenthesis, "x" Subscript, 2 , Baseline minus "x" Subscript, 1 , Baseline , right parenthesis plus 1 half StartRoot, 2 StartFraction, left parenthesis, "r" squared plus "r" squared , right parenthesis Over "R" squared , EndFraction minus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis squared Over "R" to the 4th power , EndFraction minus 1 , EndRoot left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesisE1=12x1+x2+r21−r222R2x2−x1+122r21+r22R2−r21−r222R4−1y2−y1
equals=
0.4 6 1 2 3 7 4 5 6 5 2 50.461237456525
13
Uttryck 14: "E" Subscript, 2 , Baseline equals 1 half left parenthesis, "y" Subscript, 1 , Baseline plus "y" Subscript, 2 , Baseline , right parenthesis plus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis Over 2 "R" squared , EndFraction left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesis plus 1 half StartRoot, 2 StartFraction, left parenthesis, "r" squared plus "r" squared , right parenthesis Over "R" squared , EndFraction minus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis squared Over "R" to the 4th power , EndFraction minus 1 , EndRoot left parenthesis, "x" Subscript, 1 , Baseline minus "x" Subscript, 2 , Baseline , right parenthesisE2=12y1+y2+r21−r222R2y2−y1+122r21+r22R2−r21−r222R4−1x1−x2
equals=
1.4 2 7 3 2 6 1 7 4 61.4273261746
14
Uttryck 15: "E" Subscript, 3 , Baseline equals 1 half left parenthesis, "x" Subscript, 1 , Baseline plus "x" Subscript, 2 , Baseline , right parenthesis plus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis Over 2 "R" squared , EndFraction left parenthesis, "x" Subscript, 2 , Baseline minus "x" Subscript, 1 , Baseline , right parenthesis minus 1 half StartRoot, 2 StartFraction, left parenthesis, "r" squared plus "r" squared , right parenthesis Over "R" squared , EndFraction minus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis squared Over "R" to the 4th power , EndFraction minus 1 , EndRoot left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesisE3=12x1+x2+r21−r222R2x2−x1−122r21+r22R2−r21−r222R4−1y2−y1
equals=
negative 1.0 1 9 8 9 1 5 8 7 1−1.0198915871
15
Uttryck 16: "E" Subscript, 4 , Baseline equals 1 half left parenthesis, "y" Subscript, 1 , Baseline plus "y" Subscript, 2 , Baseline , right parenthesis plus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis Over 2 "R" squared , EndFraction left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesis minus 1 half StartRoot, 2 StartFraction, left parenthesis, "r" squared plus "r" squared , right parenthesis Over "R" squared , EndFraction minus StartFraction, left parenthesis, "r" squared minus "r" squared , right parenthesis squared Over "R" to the 4th power , EndFraction minus 1 , EndRoot left parenthesis, "x" Subscript, 1 , Baseline minus "x" Subscript, 2 , Baseline , right parenthesisE4=12y1+y2+r21−r222R2y2−y1−122r21+r22R2−r21−r222R4−1x1−x2
equals=
1.0 9 9 9 1 8 7 0 1 81.0999187018
16
"x" Subscript, 3 , Baselinex3
"y" Subscript, 3 , Baseliney3
"x" Subscript, 1 , Baselinex1
"y" Subscript, 1 , Baseliney1
r1c3:
"E" Subscript, 1 , BaselineE1
"E" Subscript, 2 , BaselineE2
r2c3:
"x" Subscript, 2 , Baselinex2
"y" Subscript, 2 , Baseliney2
r3c3:
r4c3:
17
"x" Subscript, 4 , Baselinex4
"y" Subscript, 4 , Baseliney4
"x" Subscript, 1 , Baselinex1
"y" Subscript, 1 , Baseliney1
r1c3:
"E" Subscript, 3 , BaselineE3
"E" Subscript, 4 , BaselineE4
r2c3:
"x" Subscript, 2 , Baselinex2
"y" Subscript, 2 , Baseliney2
r3c3:
r4c3:
18
Gömd Etikett: "a" Subscript, 1 , Baseline equals left parenthesis, "E" Subscript, 1 , Baseline , "E" Subscript, 2 , Baseline , right parenthesisa1=E1,E2
Uttryck 21: arc tangent left parenthesis, "E" Subscript, 2 , Baseline , "E" Subscript, 1 , Baseline , right parenthesisarctanE2,E1
equals=
72.0 9 1 8 7 0 2 2 6 772.0918702267
21
this is the elbow angle (relative to robot frame, not shoulder)
22
Uttryck 23: arc tangent left parenthesis, left parenthesis, "c" Subscript, 2 , Baseline . "y" minus "a" Subscript, 1 , Baseline . "y" , right parenthesis , left parenthesis, "c" Subscript, 2 , Baseline . "x" minus "a" Subscript, 1 , Baseline . "x" , right parenthesis , right parenthesisarctanc2.y−a1.y,c2.x−a1.x
equals=
151.7 9 1 9 9 9 2 2 2151.791999222
23
Gömd Etikett: "a" Subscript, 2 , Baseline equals left parenthesis, "E" Subscript, 3 , Baseline , "E" Subscript, 4 , Baseline , right parenthesisa2=E3,E4
Uttryck 25: arc tangent left parenthesis, "E" Subscript, 4 , Baseline , "E" Subscript, 3 , Baseline , right parenthesisarctanE4,E3
equals=
132.8 3 7 9 9 5 4 5 7132.837995457
25
Uttryck 26: arc tangent left parenthesis, left parenthesis, "c" Subscript, 2 , Baseline . "y" minus "a" Subscript, 2 , Baseline . "y" , right parenthesis , left parenthesis, "c" Subscript, 2 , Baseline . "x" minus "a" Subscript, 2 , Baseline . "x" , right parenthesis , right parenthesisarctanc2.y−a2.y,c2.x−a2.x
equals=
53.1 3 7 8 6 6 4 6 1 953.1378664619
26
27
driven av
driven av
"x"x
"y"y
"a" squareda2
"a" Superscript, "b" , Baselineab
77
88
99
over÷
funktioner
((
))
less than<
greater than>
44
55
66
times×
| "a" ||a|
,,
less than or equal to≤
greater than or equal to≥
11
22
33
negative−
A B C
StartRoot, , EndRoot
piπ
00
..
equals=
positive+
eller
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Exempel
Linjer: Linjära funktioner
exempel
Linjer: Enpunktsformeln
exempel
Linjer: Tvåpunktsformeln
exempel
Parabler: Standardform
exempel
Parabler: Vertexform
exempel
Parabler: Standardform och tangens
exempel
Trigonometri: Våglängd och amplitud
exempel
Trigonometri: Fas
exempel
Trigonometri: Interferens
exempel
Trigonometri: Enhetscirkeln
exempel
Kägelsnitt: Cirkel
exempel
Kägelsnitt: Parabel och fokus
exempel
Kägelsnitt: Ellips med fokus
exempel
Kägelsnitt: Hyperbel
exempel
Polära ekvationer: Ros
exempel
Polära ekvationer: Logaritmisk spiral
exempel
Polära ekvationer: Limacon
exempel
Polära ekvationer: Kägelsnitt
exempel
Parameterform: Introduktion
exempel
Parameterform: Cykloid
exempel
Transformation: Avbildning av en funktion
exempel
Transformation: Förändra skalan på en funktion
exempel
Transformation: Invers av en funktion
exempel
Statistik: Linjär regression
exempel
Statistik: Anscombs kvartett
exempel
Statistik: Polynom av 4:e grad
exempel
Listor: Sinuskurvor
exempel
Listor: Stickandet av kurvor
exempel
Listor: Rita en graf från en lista med punkter
exempel
Infinitesimalkalkyl: Derivata
exempel
Infinitesimalkalkyl: Sekantlinje
exempel
Infinitesimalkalkyl: Tangentlinje
exempel
Infinitesimalkalkyl: Taylorutveckling av sin(x)
exempel
Infinitesimalkalkyl: Integraler
exempel
Infinitesimalkalkyl: Integraler med justerbara gränser
