PARAMETROS

r1= 4 r6= 0
r2= 2 r7= 0
r3= 5
r4= 4

teta2 teta5 r5 teta4 teta3 rcx rcy

0.0 3.1416 2 1.25297997 0.86321924 2 0
0.1 3.04258768 2.01988302 1.16240145 0.76741509 1.99000833 0.19966683
0.2 2.94922234 2.07820172 1.09300842 0.68277295 1.96013316 0.39733866
0.3 2.86591754 2.17131218 1.04584165 0.61147102 1.91067298 0.59104041
0.4 2.79522392 2.29412209 1.01937525 0.55349188 1.84212199 0.77883668
0.5 2.73792105 2.4410329 1.01074679 0.50752616 1.75516512 0.95885108
0.6 2.69352419 2.60664193 1.01677018 0.47178591 1.65067123 1.12928495
0.7 2.66084795 2.78612015 1.03450075 0.44449658 1.52968437 1.28843537
0.8 2.63843592 2.97533545 1.06144786 0.42411293 1.39341342 1.43471218
0.9 2.62482219 3.170829 1.09559465 0.40937382 1.24321994 1.56665382
1.0 2.61866216 3.36972802 1.13533851 0.39928419 1.08060461 1.68294197
1.1 2.6187821 3.56964342 1.17941169 0.39307262 0.90719224 1.78241472
1.2 2.62418479 3.76857495 1.22680693 0.39014675 0.72471551 1.86407817
1.3 2.63403517 3.96483168 1.27671585 0.39005432 0.53499766 1.92711637
1.4 2.64763854 4.15696873 1.32848072 0.39245184 0.33993429 1.97089946
1.5 2.66441802 4.34373819 1.38155766 0.39708021 0.1414744 1.99498997
1.6 2.68389389 4.52405175 1.43548888 0.403746 -0.05839904 1.99914721
1.7 2.70566582 4.6969523 1.48988193 0.41230722 -0.25768899 1.98332962
1.8 2.72939809 4.8615925 1.54439416 0.42266231 -0.45440419 1.94769526
1.9 2.75480745 5.01721859 1.59872109 0.43474157 -0.64657913 1.89260018
2.0 2.78165334 5.16315814 1.65258792 0.44850034 -0.83229367 1.81859485
2.1 2.80972989 5.29881076 1.70574319 0.46391336 -1.00969221 1.72641873
2.2 2.83885951 5.42364111 1.75795441 0.48097004 -1.17700223 1.61699281
2.3 2.86888766 5.5371735 1.809005 0.49967026 -1.33255204 1.49141042
2.4 2.89967861 5.63898787 1.85869251 0.52002051 -1.47478743 1.35092636
2.5 2.93111188 5.72871668 1.90682765 0.54203031 -1.60228723 1.19694429
2.6 2.96307942 5.8060426 1.95323407 0.56570871 -1.71377751 1.03100274
2.7 2.99548311 5.8706967 1.99774871 0.59106102 -1.80814428 0.85475976
2.8 3.0282327 5.92245716 2.04022238 0.61808554 -1.88444468 0.6699763
2.9 3.06124405 5.96114826 2.08052051 0.64677056 -1.94191633 0.47849866
3.0 3.09443755 5.98663972 2.11852382 0.67709164 -1.97998499 0.28224002
3.1 3.12773667 5.99884615 2.15412871 0.70900908 -1.9982703 0.08316132
3.2 3.16106665 5.99772679 2.18724718 0.74246594 -1.99658955 -0.11674829
3.3 3.19435327 5.98328539 2.21780622 0.77738633 -1.97495954 -0.31549139
3.4 3.22752157 5.95557016 2.2457465 0.81367429 -1.93359639 -0.5110822
3.5 3.26049458 5.91467399 2.27102035 0.85121286 -1.87291337 -0.70156646
3.6 3.29319204 5.86073475 2.29358911 0.88986364 -1.79351683 -0.88504089
3.7 3.32552889 5.79393582 2.31341974 0.92946633 -1.69620006 -1.05967228
3.8 3.3574137 5.71450685 2.33048095 0.96983839 -1.58193542 -1.22371578
3.9 3.38874683 5.62272479 2.34473881 1.01077439 -1.45186461 -1.37553232
4.0 3.41941831 5.51891525 2.3561519 1.05204501 -1.30728724 -1.51360499
4.1 3.44930534 5.4034544 2.36466606 1.09339538 -1.14964789 -1.63655422
4.2 3.47826927 5.27677139 2.37020876 1.13454259 -0.98052164 -1.74315154
4.3 3.506152 5.1393516 2.37268289 1.17517206 -0.80159834 -1.83233187
4.4 3.5327716 4.99174087 2.37196001 1.21493264 -0.61466574 -1.90320415
4.5 3.55791684 4.83455113 2.36787271 1.25343008 -0.4215916 -1.95506024
4.6 3.58134059 4.66846774 2.36020601 1.29021854 -0.22430505 -1.98738201
4.7 3.60275152 4.49425924 2.34868748 1.32478993 -0.02477733 -1.99984652
4.8 3.62180396 4.31279012 2.33297592 1.35656061 0.17499797 -1.99232922
4.9 3.63808534 4.12503788 2.31264841 1.38485523 0.37302474 -1.96490523
5.0 3.65110094 3.93211546 2.28718611 1.4088877 0.56732437 -1.91784855
5.1 3.66025558 3.73530094 2.25595954 1.4277395 0.75595549 -1.85162936
5.2 3.66483255 3.53607681 2.21821554 1.44033714 0.93703334 -1.76690931
5.3 3.66397097 3.33618117 2.17307036 1.44543223 1.10874867 -1.66453488
5.4 3.6566446 3.13767364 2.11951795 1.44159185 1.26938575 -1.54552898
5.5 3.64164974 2.94301769 2.05646943 1.42721439 1.41733955 -1.41108065
5.6 3.61761629 2.75517757 1.9828514 1.40059674 1.55113176 -1.26253328
5.7 3.58306785 2.57772023 1.89780459 1.3600949 1.66942557 -1.10137109
5.8 3.53657101 2.41489616 1.80103401 1.30443271 1.77103903 -0.92920436
5.9 3.47702344 2.27164512 1.69334261 1.23320345 1.85495686 -0.74775333
6.0 3.40411166 2.15343765 1.57728653 1.14753106 1.92034057 -0.558831
6.1 3.31888383 2.06584516 1.45768211 1.0506684 1.96653688 -0.36432501
6.2 3.22421461 2.01378534 1.34145658 0.94807129 1.99308419 -0.16617881
6.3 3.12479006 2.00056513 1.23641166 0.8465022 1.99971727 0.0336278
 2.5

1.5

0.5

0
-2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5

-0.5

-1

-1.5

-2

-2.5

0
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-2

-3
0
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-1 0123456789012345678901234567890123456789012345678901234

-2

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