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IK and jacobian

1. Graphical Results

This section will display the graphical results obtained from the above equations:

Diagrama del sistema Diagrama del sistema

2. Observations

  • We used trigonometric functions to deduce the necessary relations in the kinematics.
  • We also applied the law of cosines to calculate the angles ( \varphi_1 ) and ( \varphi_2 ).
  • With these values, it was possible to determine the joint angles ( \theta_2 ) and ( \theta_3 ).