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when i build the mathmatical model of robot,i face a new question that i ever seen before.

i have a reverse kinematic lever as the leg and i want to use the tip position to get the relationship of fold angle and rotate angle reversely

here is my equation:

x*e^iθ - y*e^iθ * e^-iα + z*e^iθ = d

x is the known length of first section of kinematic lever

y is the known length of second section of kinematic lever

z is the known length of third section of kinematic lever

d is the known length from {0,0} (which is the pin point of kinematic lever rotation point) to kinematic lever tip

i want to find the exact relation of θ and α

could you help me to get the result of the equation? thanks.

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# Equation with two unknowns in complex exponential

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