[AMR] Notes on tasks, improved layouts

electives/amr/parts/01_kinematics/02_inverse.tex

@@ -2,7 +2,7 @@
 \begin{wrapfigure}[10]{r}{0.35\columnwidth}
     \includegraphics[width=0.35\columnwidth]{assets/inverse-kinematics.png}
 \end{wrapfigure}
-\bi{Option}: Solve Forward Kinematics for angles.\\
+\bi{Option}: Solve FK for angles.\\
 \bi{Better}: Law of cosine with polar coordinates. Compute angle using cosine rule,
 $\theta_1 = \varphi \pm \alpha$, $\theta_2 = \pm(\pi - \beta)$
 (Positive for {\color{ForestGreen} Elbow Down}, Neg. for {\color{red} Elbow Up})
@@ -10,5 +10,5 @@ $\theta_1 = \varphi \pm \alpha$, $\theta_2 = \pm(\pi - \beta)$
 \bi{Extension to 6R}:
 1. Waist: spherical coords (2 sol.)\\
 2. 2 sols from 2R for shoulder + elbow\\
-3. Solve for wrist joints (no influence on pos)
+3. Solve for wrist joints (no infl. on pos)