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[AMR] Some layout updates for smaller font sizes

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janishutz
2026-07-29 11:10:17 +02:00
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commit e08ee018a9
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electives/amr/parts/01_kinematics/02_inverse.tex
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\subsection{Inverse Kinematics (IK)}
\begin{wrapfigure}[10]{r}{0.4\columnwidth}
\includegraphics[width=0.4\columnwidth]{assets/inverse-kinematics.png}
\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{Better}: Law of cosine with polar coordinates. Compute angle using cosine rule,\\
\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}, Negative for {\color{red} Elbow Up})
(Positive for {\color{ForestGreen} Elbow Down}, Neg. for {\color{red} Elbow Up})
\bi{Extension to 6R}:
1. Waist: spherical coords (2 sol.)\\