ITMT 270

Robotics Systems Application

Assignment 2
Shane Holbrook

The goal of the assignment is to determine step by step how we came to the conclusion of
this equation:
cos 1=

x ( L 1+ L 2Cos 2 ) + y L 2 Sin 2
x2 + y2

To determine how we arrived at this equation, we must first take equations 1, and 2 and
begin to change them as so starting with equation 1:

x=L1 Cos 1+ L2 cos (1+ 2)

Now we simply multiply by Cos1

on both sides to change the equation to:

Cos1 x=L 1Co s 2 1+ L 2Cos 1 cos( 1+ 2)

Then we can expand the theta 1 and 2s as so and further expand the problem.

Cos1 x=L 1Co s 2 1+ L 2Cos 1(Cos 1Cos 2sin 1 sin 2)

The equation expands because it is known that Cos(Theta 1 + Theta 2) = Cos Theta 1 Cos Theta
2 minus Sin Theta 1 Sine Theta 2 or

cos ( 1+ 2 )=cos 1Cos 2Sin 1 Sin 2

Now we can begin to finish up our equation one portion as so:

Cos1 x=L 1Co s 2 1+ L 2Co s2 1 Cos 2L 2Cos 1 Sin 1 Sin 2

This is achieved by the distributive property.

Now we must move around equation two, which we will do using Sine as so:
y=L 1 Sin 1+ L 2sin ( 1+ 2 )

The first thing we will do is times both sides by sin Theta 1 Which changes our equation
to:
Sin 1 y =L1 Si n2 1+ L 2 Sin 1( Sin1 Cos 2+ Cos1 Sin 2)

Once again changing the Thetas and writing them out longer. Now we Must use the
distributive property again and move the equation around once more as so:

Sin 1 y =L1 Si n2 1+ L 2 Si n2 1 Cos2+ L 2 Sin 1 Cos 1 Sin 2

Now that we have gotten this far, we can add equations 1 and 2 to make equation 3
through adding and canceling of certain factors as such:
Equation #3:
Cos1 x +sin 1 y =L1+ L 2Cos 2

Now we need to determine what equation 4 would be. To do this we simply multiply
equation 1 by Sin 1 and equation 2 by Cos1 . Starting with equation 1:
x=L1 Cos 1+ L2 cos (1+ 2)

After multiplying both sides by Sin 1 we get the following equation:

Sin 1 x=L1 Cos1 Sin 1L 2 Sin 1 cos (1+ 2)

Now we simply change the ( 1+ 2) to a longer format and the equation becomes:

Sin 1 x=L1 Cos1 Sin 1L 2 Sin 1(Cos 1 Cos2Sin 1 Sin 2)

Now we can use the distributive property to remove the parentheses from the end of the
equation as so:

Sin 1 x=L1 Cos1 Sin 1L 2 Sin 1 Cos 1Cos 2+ L2 Sin 1 Sin 2

Now we must take equation 2 and multiply it by Cos1

in order to get the second part

of our equation 4. First we start with equation 2:

y=L 1sin 1+ L 2cos ( 1+ 2)

Now we multiply both sides by Cos1

and we come up with the following equation:

Cos1 y=L 1 Cos1 Sin 1+ L2 Cos1( 1+ 2)

Now we can open up the ( 1+ 2 ) portion of the equation by further expanding it as

such:

Cos1 y=L 1 Cos1 Sin 1+ L2 Cos1( Sin 1 Cos 2+Cos1 Sin 2)

Now through distribution we can eliminate the parentheses:

Cos1 y=L 1 Cos1 Sin 1+ L2 Cos1 Sin 1Cos 2+ L 2Co s2 1 Sin 2

Now that we have the extensions of problems 1 and 2, we can now add them together to
get equation 4 as follows through addition and cancellation:
Equation #4:
sin 1 x+ cos 1 y =L2 Sin 2

Now that we have equation #3 and equation #4, we can now times equations 3 by x to
result in:

cos 1 x +sin 1 xy =x (L1+ L 2Cos 2)

We can then times equation #4 by Y and result in:

Sin 1 xy +Co s 1 y = y L 2 sin 2

To get the final equation we must simply add these two equations, #3 and 4 together, to
result in the final equation:
Final Equation:
Cos1=

X ( L 1+ L2 Cos 2 ) +Y L 2 Sin 2
2
2
X +Y

Now that we have shown how we came to the conclusion of the final results, we can plug
in numbers to determine a real situation:

The numbers I have indicate the following amounts:

L1 = 20
L2 = 25
Theta1 = 30
Theta2 = 20

I assume first I would need to plug these into equation 1 to solve for x:
x=20 cos ( 30 ) +25 cos (30+20)

Which would equal to be:

x=33.395

Then I assume I would need to solve for Y in equation 2:

y=20 sin ( 30 ) +25 sin(30+ 20)

Which would equate to be:

Y =29.15

Taking these new numbers and plugging them into the equation looks as so:

Cos1=

33.395 ( 20+ 25 cos ( 20 ) ) + ( 29.15 ) 25 sin(20)

2

33.395 + 29.15

However, After doing so I end up with the answer being:

Cos1=0.8455

Which as we already know Cos1=30 so obviously something is wrong. Im not sure

where I am miscalculating hopefully by attempting this equation I can be instructed on where I
am going wrong and prevent further miscalculations.