User:Rasate.Nov



\begin{cases} uy - vx = uA_y - vA_x \\ (A_y-y)^2 + (A_x-x)^2 = r^2 \end{cases} $$



\arctan\frac{|T_y|}{T_x+d} $$



\begin{array}{lcl} x & = & \frac{-a_1\pm\sqrt{a_1^2-a_0a_2}}{a_0},\\ y & = & \frac{R_x^2+R_y^2-(R_x+d)x+R_xd-r^2}{R_y} \end{array} $$



\begin{array}{lcl} a_0 & = & (R_x^2+R_y^2+d^2-2R_xd) = |BR|^2,\\ a_1 & = & 2(R_y^2d-(R_x+d)(R_x^2+R_y^2+R_xd-r^2),\\ a_2 & = & R_y^2d + R_y^2((R_x+d)^2+R_y^2-r^2) + (R_x^2+R_y^2+R_xd-r^2)^2 \end{array} $$



90^\circ-\arctan\left|\frac{R_y}{R_x}\right|-\varphi_1 $$



\theta=\arccos\frac{l_\mathrm{souterleg}+l_\mathrm{sactuator}+h_\mathrm{storso}-h}{l_\mathrm{sinnerleg}} $$