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[AMR] Improve kinematics summary

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janishutz
2026-06-17 09:55:08 +02:00
parent 4140018beb
commit 4a3f2fb9c8
6 changed files with 50 additions and 43 deletions
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electives/amr/parts/01_kinematics/02_inverse.tex
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@@ -4,7 +4,7 @@
\end{wrapfigure}
\bi{Option}: Solve Forward Kinematics for angles.\\
\bi{Better}: Law of cosine with polar coordinates. Compute angle using cosine rule,\\
$\theta_1 = \phi \pm \alpha$, $\theta_2 = \pm(\pi - \beta)$
$\theta_1 = \varphi \pm \alpha$, $\theta_2 = \pm(\pi - \beta)$
(Positive for {\color{ForestGreen} Elbow Down}, Negative for {\color{red} Elbow Up})