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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 ?
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 ?