I have a problem. Earlier I posted a subproblem of this one but poorly asked so I hope I do better this time.
I have an example which is a more simple one of my actual problem:
I want to find two angles (
theta_3) given two links with known link lengths(
a3) and a known end point
With the law of cosines the two angles theta_2 and theta_3 can be found.
theta_3 = atan2(d, +-sqrt(1-d^2))
d = (r^2 + s^2 - a2^2 - a3^2) / (2*a2*a3)
theta_2 then becomes:
theta_2 = atan2(r,s) - atan2(a2+a3*cos(theta_3), a3*sin(theta_3))
And that is all understood. But now if I make the problem slightly more complicated I cannot figure out how to find these angles anymore.
Now consider this problem which is exactely the same as problem 1, just with a rigidly attached link at the end point in a 90 degree angle:
How can I now solve for the angles given only the three link lengths (
a2, a3, d) and the coordinates of point