Wrist Angle = `${o_deg3}` left parenthesis, 0.3 3 5 8 1 3 4sin left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 3 , Baseline plus "O" Subscript, 2 , Baseline left parenthesis, 0 , right parenthesis , right parenthesis , right parenthesis plus 0.6 6 0 4cos left parenthesis, "O" Subscript, 2 , Baseline left parenthesis, 0 , right parenthesis , right parenthesis plus 0.9 9 0 6cos left parenthesis, "O" Subscript, 1 , Baseline left parenthesis, 0 , right parenthesis , right parenthesis , 0.3 3 5 8 1 3 4cos left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 3 , Baseline plus "O" Subscript, 2 , Baseline left parenthesis, 0 , right parenthesis , right parenthesis , right parenthesis plus 0.6 6 0 4sin left parenthesis, "O" Subscript, 2 , Baseline left parenthesis, 0 , right parenthesis , right parenthesis plus 0.9 9 0 6sin left parenthesis, "O" Subscript, 1 , Baseline left parenthesis, 0 , right parenthesis , right parenthesis , right parenthesis0.3358134sinπ2−o3+O20+0.6604cosO20+0.9906cosO10,0.3358134cosπ2−o3+O20+0.6604sinO20+0.9906sinO10
Expression 31: "f" Subscript, "o" 3 , Baseline left parenthesis, "x" , right parenthesis equals StartAbsoluteValue, left parenthesis, StartFraction, pi Over 2 , EndFraction minus left parenthesis, "o" Subscript, 2 , Baseline plus "x" , right parenthesis , right parenthesis , EndAbsoluteValue times left brace, "x" greater than or equal to negative StartFraction, pi Over 2 , EndFraction : 1 , 0 , right brace plus left parenthesis, StartFraction, 3 pi Over 2 , EndFraction plus left parenthesis, "o" Subscript, 2 , Baseline plus "x" , right parenthesis , right parenthesis times left brace, "x" less than negative StartFraction, pi Over 2 , EndFraction : 1 , 0 , right bracefo3x=π2−o2+x·x≥−π2:1,0+3π2+o2+x·x<−π2:1,0
31
Hidden Label: left bracket, left parenthesis, "l" Subscript, 1 , Baseline cos "o" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline cos "o" Subscript, 2 , Baseline plus "c" Subscript, 3 , Baseline cos left parenthesis, "o" Subscript, 2 , Baseline plus "o" Subscript, 3 , Baseline , right parenthesis , "l" Subscript, 1 , Baseline sin "o" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline sin "o" Subscript, 2 , Baseline plus "c" Subscript, 3 , Baseline sin left parenthesis, "o" Subscript, 2 , Baseline plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis , left parenthesis, "l" Subscript, 1 , Baseline cos "o" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline cos "o" Subscript, 2 , Baseline plus "c" Subscript, 3 , Baseline cos left parenthesis, "o" Subscript, 2 , Baseline plus "o" Subscript, 3 , Baseline , right parenthesis , 0 , right parenthesis , right bracketl1coso1+l2coso2+c3coso2+o3,l1sino1+l2sino2+c3sino2+o3,l1coso1+l2coso2+c3coso2+o3,0
Label
equals=
left parenthesis, 1.5 4 9 , 0.8 2 1 7 , right parenthesis1.549,0.8217
left parenthesis, 1.5 4 9 , 0 , right parenthesis1.549,0
32
Cone on Elbow
33
Hidden Label: left bracket, left parenthesis, "l" Subscript, 1 , Baseline cos "o" Subscript, 1 , Baseline , "l" Subscript, 1 , Baseline sin "o" Subscript, 1 , Baseline , right parenthesis , left parenthesis, "l" Subscript, 1 , Baseline cos "o" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline cos "o" Subscript, 2 , Baseline plus "c" Subscript, 3 , Baseline cos left parenthesis, "o" Subscript, 2 , Baseline plus "o" Subscript, 3 , Baseline , right parenthesis , "l" Subscript, 1 , Baseline sin "o" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline sin "o" Subscript, 2 , Baseline plus "c" Subscript, 3 , Baseline sin left parenthesis, "o" Subscript, 2 , Baseline plus "o" Subscript, 3 , Baseline , right parenthesis , right parenthesis , right bracketl1coso1,l1sino1,l1coso1+l2coso2+c3coso2+o3,l1sino1+l2sino2+c3sino2+o3
Label
equals=
left parenthesis, 0.8 1 8 7 , 0.5 5 7 7 , right parenthesis0.8187,0.5577
left parenthesis, 1.5 4 9 , 0.8 2 1 7 , right parenthesis1.549,0.8217
34
Expression 35: "f" Subscript, "o" 2 "o" 3 , Baseline left parenthesis, "a" Subscript, 1 , Baseline , "a" Subscript, 2 , Baseline , right parenthesis equals StartAbsoluteValue, negative pi left brace, "a" Subscript, 1 , Baseline less than 0 : 1 , 0 , right brace plus arcsin left parenthesis, StartFraction, "l" Subscript, 2 , Baseline cos "a" Subscript, 2 , Baseline plus "c" Subscript, 3 , Baseline cos "a" Subscript, 1 , Baseline Over StartRoot, "l" squared plus "c" squared minus 2 times "l" Subscript, 2 , Baseline times "c" Subscript, 3 , Baseline times cos ( StartNestedFraction, pi NestedOver 2 , EndNestedFraction minus "a" Subscript, 2 , Baseline plus StartNestedFraction, pi NestedOver 2 , EndNestedFraction minus "a" Subscript, 1 , Baseline ) , EndRoot , EndFraction , right parenthesis , EndAbsoluteValuefo2o3a1,a2=−πa1<0:1,0+arcsinl2cosa2+c3cosa1l22+c23−2·l2·c3·cos(π2−a2+π2−a1)
35
Expression 36: "f" Subscript, "o" 2 "o" 3 , Baseline left parenthesis, "o" Subscript, 3 , Baseline , "o" Subscript, 2 , Baseline , right parenthesis times StartFraction, 180 Over pi , EndFractionfo2o3o3,o2·180π
