Using Matlab

Calculate theta2, alpha, betha and theta 1 at the following points. (55,75) ,(75,60),(15,63),(32,14),(71,70).

50mm

In some cases, the laws of sines and cosines must both be used to solve a triangle. Figure 2.3 is one such case where the lengths /, and 12 along with the final ending point P of the two links are known and the e values are not. Both laws are needed to solve this triangle. y-axis PG,y) 1806 180-02-22 " - To Figure 2.3: General Two Link Robot 1. The radius r is found by: r = x + y 2. Using the Law of Cosines, 02 is found by the following equation: p2 = 11? +l22 - 21112cos (180 02) 02 = 180 cos-1 (0-2 ) Using the Law of Sines, a is found by the following equation: sin (02) _sin (a) rh a = sin-1 (12 sin(02)) is now found by the equation: 8 = tan() 0 =B-a In some cases, the laws of sines and cosines must both be used to solve a triangle. Figure 2.3 is one such case where the lengths /, and 12 along with the final ending point P of the two links are known and the e values are not. Both laws are needed to solve this triangle. y-axis PG,y) 1806 180-02-22 " - To Figure 2.3: General Two Link Robot 1. The radius r is found by: r = x + y 2. Using the Law of Cosines, 02 is found by the following equation: p2 = 11? +l22 - 21112cos (180 02) 02 = 180 cos-1 (0-2 ) Using the Law of Sines, a is found by the following equation: sin (02) _sin (a) rh a = sin-1 (12 sin(02)) is now found by the equation: 8 = tan() 0 =B-a