X() ARM0 COS ARM0 SEN ARM1 COS

1 0 10 0 15 15 0 15
2 1 8.090169944 2.78115295 15.8713229 15.8713229 0 15.09452505973
3 2 3.090169944 5.29006727 13.3802372 13.3802372 0 10.824839295203
4 3 -3.090169944 7.28115295 9.19098301 9.19098301 0 5.4023242647772
5 4 -8.090169944 8.55950865 5.4693387 5.4693387 0 1.6901186071909
6 5 -10 9 4 4 0 2.4492935983E-16
7 6 -8.090169944 8.55950865 5.4693387 5.4693387 0 -1.6901186071909
8 7 -3.090169944 7.28115295 9.19098301 9.19098301 0 -5.4023242647772
9 8 3.090169944 5.29006727 13.3802372 13.3802372 0 -10.824839295203
10 9 8.090169944 2.78115295 15.8713229 15.8713229 0 -15.09452505973
11 10 10 1.10218E-15 15 15 0 -15
12 11 8.090169944 -2.78115295 10.309017 10.309017 0 -9.8044577890978
13 12 3.090169944 -5.29006727 2.80010267 2.80010267 0 -2.2653306485466
14 13 -3.090169944 -7.28115295 -5.37132289 -5.37132289 0 3.1571843818792
15 14 -8.090169944 -8.55950865 -11.6496786 -11.6496786 0 3.5999486634414
16 15 -10 -9 -14 -14 0 2.5717582782E-15
17 16 -8.090169944 -8.55950865 -11.6496786 -11.6496786 0 -3.5999486634414
18 17 -3.090169944 -7.28115295 -5.37132289 -5.37132289 0 -3.1571843818792
19 18 3.090169944 -5.29006727 2.80010267 2.80010267 0 2.2653306485466
20 19 8.090169944 -2.78115295 10.309017 10.309017 0 9.8044577890978
100 0 -1.598721155E-14
10000 0 2.5559093329E-28
100 90
5 0 4.5

10
8
 Chart Title
10
15
8

10 6
4
5 2
0
0 0 2 4 6 8
0 2 4 6 8 10 12 14 16 18 20 -2

-5 -4
-6
-10 -8
-10
-15

Chart Title
20

15

10

0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
-5

-10

-15

-20

Column C Column D Column E

ARM1 SEN ARM2 COS ARM2 SEN ARM3 COS ARM3 SEN ARM4 COS ARM4 SEN ARM5 COS
0 15 0 15 0 15 0 15
-4.9045085 12.8401699 -9.32892953 9.32892953 -12.8401699 4.9045085 -15.0945251 9.71838E-16
-7.86470611 4.13472069 -12.7253618 -4.13472069 -12.7253618 -10.8248393 -7.86470611 -13.3802372
-7.43566145 -2.84016994 -8.74114428 -8.74114428 -2.84016994 -7.43566145 5.40232426 -1.6884E-15
-5.20165021 -4.42478796 -3.21479663 -4.42478796 3.21479663 1.69011861 5.20165021 5.4693387
-4 -4 -4.8986E-16 -7.3479E-16 4 4 9.79717E-16 1.22465E-15
-5.20165021 -4.42478796 3.21479663 4.42478796 3.21479663 1.69011861 -5.20165021 -5.4693387
-7.43566145 -2.84016994 8.74114428 8.74114428 -2.84016994 -7.43566145 -5.40232426 -3.9395E-15
-7.86470611 4.13472069 12.7253618 4.13472069 -12.7253618 -10.8248393 7.86470611 13.3802372
-4.9045085 12.8401699 9.32892953 -9.32892953 -12.8401699 4.9045085 15.0945251 8.74654E-15
-1.837E-15 15 3.67394E-15 -15 -5.5109E-15 15 7.34788E-15 -15
3.18566145 8.34016994 -6.05948815 -6.05948815 8.34016994 3.18566145 -9.80445779 -2.5256E-14
1.64585906 0.86527931 -2.66305589 0.86527931 2.66305589 -2.26533065 -1.64585906 2.80010267
-4.3454915 1.65983006 5.10843164 -5.10843164 -1.65983006 4.3454915 -3.15718438 5.2657E-15
-11.0795027 9.42478796 6.84750927 -9.42478796 6.84750927 -3.59994866 -11.0795027 11.6496786
-14 14 5.14352E-15 -3.2584E-14 14 -14 -1.0287E-14 3.77278E-14
-11.0795027 9.42478796 -6.84750927 9.42478796 6.84750927 -3.59994866 11.0795027 -11.6496786
-4.3454915 1.65983006 -5.10843164 5.10843164 -1.65983006 4.3454915 3.15718438 3.95011E-15
1.64585906 0.86527931 2.66305589 -0.86527931 2.66305589 -2.26533065 1.64585906 -2.80010267
3.18566145 8.34016994 6.05948815 6.05948815 8.34016994 3.18566145 9.80445779 6.31883E-15
-90 100 0 -8.1712E-14 0 0 0 0
8100 10000 0 6.67692E-27 0 0 0 0
100 7.01661E-14 1.02141E-14 3.78443E-14
0 5 0 3.5083E-15 0 5.10703E-16 0 1.89221E-15

Chart Title
6

0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41

Chart Title
 Chart Title

2 4 6 8 10 12 14 16 18 20

20

15

10

0
0 2 4 6 8 10 12 14 16 18 20
-5

-10

-15

-20 Chart Title

ARM5 SEN ARM6 COS ARM6 SEN ARM7 COS ARM7 SEN ARM8 COS ARM8 SEN ARM9 COS
0 15 0 15 0 15 0 15
-15.8713229 -4.9045085 -15.0945251 -9.32892953 -12.8401699 -12.8401699 -9.32892953 -15.0945251
-1.6386E-15 -10.8248393 7.86470611 -4.13472069 12.7253618 4.13472069 12.7253618 10.8248393
9.19098301 7.43566145 5.40232426 8.74114428 -2.84016994 2.84016994 -8.74114428 -5.40232426
1.3396E-15 1.69011861 -5.20165021 -4.42478796 -3.21479663 -4.42478796 3.21479663 1.69011861
-4 -4 -1.4696E-15 -1.7145E-15 4 4 1.95943E-15 2.20436E-15
-2.0094E-15 1.69011861 5.20165021 4.42478796 -3.21479663 -4.42478796 -3.21479663 -1.69011861
9.19098301 7.43566145 -5.40232426 -8.74114428 -2.84016994 2.84016994 8.74114428 5.40232426
6.55443E-15 -10.8248393 -7.86470611 4.13472069 12.7253618 4.13472069 -12.7253618 -10.8248393
-15.8713229 -4.9045085 15.0945251 9.32892953 -12.8401699 -12.8401699 9.32892953 15.0945251
-9.1849E-15 15 1.10218E-14 -15 -1.2859E-14 15 1.46958E-14 -15
10.309017 -3.18566145 -9.80445779 6.05948815 8.34016994 -8.34016994 -6.05948815 9.80445779
2.05748E-15 -2.26533065 1.64585906 0.86527931 -2.66305589 0.86527931 2.66305589 -2.26533065
5.37132289 -4.3454915 -3.15718438 5.10843164 -1.65983006 -1.65983006 5.10843164 -3.15718438
9.98672E-15 -3.59994866 11.0795027 -9.42478796 -6.84750927 9.42478796 -6.84750927 3.59994866
-14 14 6.51685E-14 -9.2609E-14 14 -14 -2.0574E-14 4.80148E-14
-1.1413E-14 -3.59994866 -11.0795027 9.42478796 -6.84750927 9.42478796 6.84750927 -3.59994866
5.37132289 -4.3454915 3.15718438 -5.10843164 -1.65983006 -1.65983006 -5.10843164 3.15718438
-3.0862E-15 -2.26533065 -1.64585906 -0.86527931 -2.66305589 0.86527931 -2.66305589 2.26533065
10.309017 -3.18566145 9.80445779 -6.05948815 8.34016994 -8.34016994 6.05948815 -9.80445779
0 0 0 -1.5454E-13 -9.0594E-14 0 -4.9738E-14 0
0 0 0 2.38836E-26 8.20731E-27 0 2.47387E-27 0
4.20081E-14 1.77478E-13 5.30905E-14 4.9738E-14
0 2.10041E-15 0 8.8739E-15 0 2.65452E-15 0 2.4869E-15

Chart Title
120

100

80

60

40

20
60

40

20

0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41
ARM9 SEN ARM10 COS ARM10 SEN ARM11 COS ARM11 SEN ARM12 COS ARM12 SEN ARM13 COS
0 15 0 15 0 15 0 15
-4.9045085 -15.8713229 -1.9437E-15 -15.0945251 4.9045085 -12.8401699 9.32892953 -9.32892953
7.86470611 13.3802372 3.27721E-15 10.8248393 -7.86470611 4.13472069 -12.7253618 -4.13472069
-7.43566145 -9.19098301 -3.3767E-15 -5.40232426 7.43566145 2.84016994 8.74114428 8.74114428
5.20165021 5.4693387 2.6792E-15 1.69011861 -5.20165021 -4.42478796 -3.21479663 -4.42478796
-4 -4 -2.4493E-15 4.4112E-15 4 4 2.93915E-15 1.02895E-14
5.20165021 5.4693387 4.0188E-15 -1.69011861 -5.20165021 -4.42478796 3.21479663 4.42478796
-7.43566145 -9.19098301 -7.879E-15 5.40232426 7.43566145 2.84016994 -8.74114428 -8.74114428
7.86470611 13.3802372 1.31089E-14 -10.8248393 -7.86470611 4.13472069 12.7253618 4.13472069
-4.9045085 -15.8713229 -1.7493E-14 15.0945251 4.9045085 -12.8401699 -9.32892953 9.32892953
-1.6533E-14 15 1.83697E-14 -15 3.3084E-14 15 2.20436E-14 -15
3.18566145 -10.309017 -5.0512E-14 9.80445779 -3.18566145 -8.34016994 6.05948815 6.05948815
-1.64585906 2.80010267 4.11496E-15 -2.26533065 1.64585906 0.86527931 -2.66305589 0.86527931
-4.3454915 5.37132289 -1.0531E-14 -3.15718438 4.3454915 -1.65983006 -5.10843164 5.10843164
11.0795027 -11.6496786 -1.9973E-14 3.59994866 -11.0795027 9.42478796 6.84750927 -9.42478796
-14 14 7.54556E-14 -1.029E-13 14 -14 -1.3034E-13 5.83019E-14
11.0795027 -11.6496786 -2.2827E-14 -3.59994866 -11.0795027 9.42478796 -6.84750927 9.42478796
-4.3454915 5.37132289 -7.9002E-15 3.15718438 4.3454915 -1.65983006 5.10843164 -5.10843164
-1.64585906 2.80010267 6.17245E-15 2.26533065 1.64585906 0.86527931 2.66305589 -0.86527931
3.18566145 -10.309017 1.26377E-14 -9.80445779 -3.18566145 -8.34016994 -6.05948815 -6.05948815
0 0 -5.0516E-15 1.58096E-13 -1.5277E-13 0 -2.1139E-13 9.9476E-14
0 0 2.55184E-29 2.49943E-26 2.33377E-26 0 4.46842E-26 9.89547E-27
5.05838E-15 2.19229E-13 2.08722E-13 1.43281E-13
0 2.52919E-16 0 1.09614E-14 0 1.04361E-14 0 7.16403E-15
4 35 36 37 38 39 40 41
ARM13 SEN ARM14 COS ARM14 SEN ARM15 COS ARM15 SEN ARM16 COS ARM16 SEN ARM17 COS
0 15 0 15 0 15 0 15
12.8401699 -4.9045085 15.0945251 -2.9155E-15 15.8713229 4.9045085 15.0945251 9.32892953
-12.7253618 -10.8248393 -7.86470611 -13.3802372 -4.9158E-15 -10.8248393 7.86470611 -4.13472069
2.84016994 7.43566145 -5.40232426 5.06507E-15 -9.19098301 -7.43566145 -5.40232426 -8.74114428
3.21479663 1.69011861 5.20165021 5.4693387 4.0188E-15 1.69011861 -5.20165021 -4.42478796
-4 -4 -3.429E-15 -1.0779E-14 4 4 3.91887E-15 -2.9416E-15
3.21479663 1.69011861 -5.20165021 -5.4693387 -6.0282E-15 1.69011861 5.20165021 4.42478796
2.84016994 7.43566145 5.40232426 -4.508E-15 -9.19098301 -7.43566145 5.40232426 8.74114428
-12.7253618 -10.8248393 7.86470611 13.3802372 1.96633E-14 -10.8248393 -7.86470611 4.13472069
12.8401699 -4.9045085 -15.0945251 -5.4433E-14 15.8713229 4.9045085 -15.0945251 -9.32892953
-7.7171E-14 15 2.57176E-14 -15 -8.0845E-14 15 2.93915E-14 -15
-8.34016994 -3.18566145 9.80445779 7.57686E-14 -10.309017 3.18566145 9.80445779 -6.05948815
2.66305589 -2.26533065 -1.64585906 2.80010267 6.17245E-15 -2.26533065 1.64585906 0.86527931
1.65983006 -4.3454915 3.15718438 -1.5797E-14 -5.37132289 4.3454915 3.15718438 -5.10843164
6.84750927 -3.59994866 -11.0795027 11.6496786 -1.1428E-14 -3.59994866 11.0795027 -9.42478796
-14 14 1.85219E-13 -1.3707E-14 14 -14 -4.1148E-14 2.67541E-13
6.84750927 -3.59994866 11.0795027 -11.6496786 -3.424E-14 -3.59994866 -11.0795027 9.42478796
1.65983006 -4.3454915 -3.15718438 2.63152E-14 -5.37132289 4.3454915 -3.15718438 5.10843164
2.66305589 -2.26533065 1.64585906 -2.80010267 -1.9207E-14 -2.26533065 -1.64585906 -0.86527931
-8.34016994 -3.18566145 -9.80445779 9.09185E-14 -10.309017 3.18566145 -9.80445779 6.05948815
-1.0481E-13 1.08358E-13 2.13163E-13 9.76996E-14 -1.3678E-13 0 0 5.57776E-13
1.09841E-26 1.17414E-26 4.54384E-26 9.54522E-27 1.87086E-26 0 0 3.11114E-25
2.39913E-13 1.68545E-13 1.11022E-14 5.53335E-13
0 1.19957E-14 0 8.42726E-15 0 5.55112E-16 0 2.76668E-14
ARM17 SEN ARM18 COS ARM18 SEN ARM19 COS ARM19 SEN ARM20COS ARM20 SEN
0 15 0 15 0 15 0
12.8401699 12.8401699 9.32892953 15.0945251 4.9045085 15.8713229 3.88735E-15
12.7253618 4.13472069 12.7253618 10.8248393 7.86470611 13.3802372 6.55443E-15
2.84016994 -2.84016994 8.74114428 5.40232426 7.43566145 9.19098301 6.75342E-15
-3.21479663 -4.42478796 3.21479663 1.69011861 5.20165021 5.4693387 5.35841E-15
-4 -4 -4.4087E-15 2.45177E-15 4 4 4.89859E-15
-3.21479663 -4.42478796 -3.21479663 -1.69011861 5.20165021 5.4693387 8.03761E-15
2.84016994 -2.84016994 -8.74114428 -5.40232426 7.43566145 9.19098301 1.5758E-14
12.7253618 4.13472069 -12.7253618 -10.8248393 7.86470611 13.3802372 2.62177E-14
12.8401699 12.8401699 -9.32892953 -15.0945251 4.9045085 15.8713229 3.49862E-14
2.20622E-14 15 3.30655E-14 -15 1.83883E-14 15 3.67394E-14
-8.34016994 8.34016994 6.05948815 -9.80445779 -3.18566145 10.309017 1.01025E-13
-2.66305589 0.86527931 2.66305589 -2.26533065 -1.64585906 2.80010267 8.22993E-15
1.65983006 1.65983006 -5.10843164 3.15718438 4.3454915 -5.37132289 2.10628E-14
-6.84750927 9.42478796 -6.84750927 3.59994866 11.0795027 -11.6496786 -3.9947E-14
-14 14 9.60296E-14 -1.2347E-13 14 -14 -1.5091E-13
-6.84750927 9.42478796 6.84750927 -3.59994866 11.0795027 -11.6496786 -4.5654E-14
1.65983006 1.65983006 5.10843164 -3.15718438 4.3454915 -5.37132289 1.58004E-14
-2.66305589 0.86527931 -2.66305589 2.26533065 -1.64585906 2.80010267 1.23449E-14
-8.34016994 8.34016994 -6.05948815 9.80445779 -3.18566145 10.309017 -2.5275E-14
0 100 3.53495E-13 -1.0303E-13 90 100 4.5867E-14
0 10000 1.24959E-25 1.06149E-26 8100 10000 2.10378E-27
100 90 100
0 5 0 4.5 0 5 0
 0 1.225148E-16 3 8 20 0
1 2 -3 4 0 -4
2 1.224647E-16 3 8 12 1.470178E-15
3 -2 -3 0 3.522356E-15 4

Chart Title
25

20

15

10

0
1 2 3 4
 400 0 400 20
0 16 16 4
144 2.16142E-30 144 12
1.2407E-29 16 16 4