Two link planar robot elbow errors in textbook (Inverse kinematics)

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The discussion centers on discrepancies in the definitions and illustrations of a two-link planar robot elbow in a textbook regarding inverse kinematics. Participants question which source is accurate and highlight the importance of consistent definitions for angles. There is a suggestion that errors may arise from different teams creating the text and illustrations, leading to confusion. The need for explicit coordinate systems is emphasized to avoid misunderstandings. Overall, clarity in definitions and illustrations is crucial for accurately understanding the mechanics of the robot.
Ineedhelpwithphysics
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Homework Statement
The textbook is telling me this is elbow up but when I search on the internet it shows me something else.
Relevant Equations
law of cosines, law of sines, Pythagorean theorem
Textbook: vvvvv
1696949125870.png


Online: VVVV
1696949162406.png
 
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Which one is right?
 
Ineedhelpwithphysics said:
Which one is right?
Could you explain your question a little more?
What force is animating this mechanism?
 
This is strictly a matter of how these terms are defined by the text. The angles must correspond to the definitions provided. Possibly the book screwed it up: the illustrations and text are often done by different groups of people..This is why coordinate systems should be indicated explicitly..
 
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Thread 'Finding the number of ways to arrange identical balls in a circle (3 different colors)'

I tried to combine those 2 formulas but it didn't work. I tried using another case where there are 2 red balls and 2 blue balls only so when combining the formula I got ##\frac{(4-1)!}{2!2!}=\frac{3}{2}## which does not make sense. Is there any formula to calculate cyclic permutation of identical objects or I have to do it by listing all the possibilities? Thanks
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