(adsbygoogle = window.adsbygoogle || []).push({}); lb*cos(qb) - lc*cos(qc) = ld*cos(qd) - la*cos(qa)

lb*sin(qb) - lc*sin(qc) = ld*sin(qd) - la*sin(qa)

Those are the equations I have. I know all the parameters but qb and qc.

How can I solve for qb and qc ?

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# Solution for two unknowns with two equations

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