actually double jointed arm model

運算式 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 parenthesis

equals

0.4 6 1 2 3 7 4 5 6 5 2 5

運算式 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 parenthesis

equals

1.4 2 7 3 2 6 1 7 4 6

運算式 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 parenthesis

equals

negative 1.0 1 9 8 9 1 5 8 7 1

運算式 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 parenthesis

equals

1.0 9 9 9 1 8 7 0 1 8

"x" Subscript, 3 , Baseline	"y" Subscript, 3 , Baseline
"x" Subscript, 1 , Baseline	"y" Subscript, 1 , Baseline	r1c3:
"E" Subscript, 1 , Baseline	"E" Subscript, 2 , Baseline	r2c3:
"x" Subscript, 2 , Baseline	"y" Subscript, 2 , Baseline	r3c3:
		r4c3:

"x" Subscript, 4 , Baseline	"y" Subscript, 4 , Baseline
"x" Subscript, 1 , Baseline	"y" Subscript, 1 , Baseline	r1c3:
"E" Subscript, 3 , Baseline	"E" Subscript, 4 , Baseline	r2c3:
"x" Subscript, 2 , Baseline	"y" Subscript, 2 , Baseline	r3c3:
		r4c3:

隱藏的標籤 "a" Subscript, 1 , Baseline equals left parenthesis, "E" Subscript, 1 , Baseline , "E" Subscript, 2 , Baseline , right parenthesis

標籤

equals

left parenthesis, 0.4 6 1 2 3 7 4 6 , 1.4 2 7 3 2 6 1 7 , right parenthesis

this is the shoulder angle

運算式 21: arc tangent left parenthesis, "E" Subscript, 2 , Baseline , "E" Subscript, 1 , Baseline , right parenthesis

equals

72.0 9 1 8 7 0 2 2 6 7

this is the elbow angle (relative to robot frame, not shoulder)

運算式 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 parenthesis

equals

151.7 9 1 9 9 9 2 2 2

隱藏的標籤 "a" Subscript, 2 , Baseline equals left parenthesis, "E" Subscript, 3 , Baseline , "E" Subscript, 4 , Baseline , right parenthesis

標籤

equals

left parenthesis, negative 1.0 1 9 8 9 1 5 9 , 1.0 9 9 9 1 8 7 , right parenthesis

運算式 25: arc tangent left parenthesis, "E" Subscript, 4 , Baseline , "E" Subscript, 3 , Baseline , right parenthesis

equals

132.8 3 7 9 9 5 4 5 7

運算式 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 parenthesis

equals

53.1 3 7 8 6 6 4 6 1 9

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