is there easy way to simulate lines rotation like robotic arm following point P moving by adjusting angle q1 and q2?
i feel point two lines and simulate static two lines in animate is also not easy.
with(plots):
with(geometry):
#Joint at (5,5)
#length a 2, y=7, x, solve(subs(y=7,2^2 = (y-5)^2+(x-5)^2), x)[1];
#length b 2, y=1, x, solve(subs(y=4,2^2 = (y-5)^2+(x-5)^2), x)[1];
point(A, 5, 5), point(B, solve(subs(y=7,2^2 = (y-5)^2+(x-5)^2), x)[1], 7):
point(C, 5, 5), point(D, solve(subs(y=4,2^2 = (y-5)^2+(x-5)^2), x)[1], 4):
line(L1, [A, B]);
line(L2, [C, D]);
_EnvHorizontalName := x;
_EnvVerticalName := y;
Equation(L1);
Equation(L2);
solve(Equation(L1), y);
solve(Equation(L2), y);
plot([solve(Equation(L1), y),solve(Equation(L2), y)], x = 1 .. 2);
animate(plot, [Equation(L1),Equation(L2), x = 0 .. 2], A = -3 .. 3);
Angle Reference from below
angle of L2 , q1a
angle of L1, q2a
p1 := vector([a*cos(q1), a*sin(q1)]);
P := evalm(p1 + b*vector([cos(q1+q2), sin(q1+q2)]));
Pe := map(expand, P);
A := {cos(q1) = c1, sin(q1) =s1, cos(q2)=c2, sin(q2)=s2};
P := subs(A, op(Pe));
F1 := [x - P[1], y - P[2], s1^2+c1^2-1, s2^2+c2^2-1 ];
F2 := subs({a=1, b=1}, F1);
with(Groebner):
g1 := Basis(F2, plex(c2, s2, c1, s1, y, x));
g1 := [-4*x^2+x^4+2*x^2*y^2+y^4-4*y*x^2*s1-4*y^3*s1+4*s1^2*x^2+4*s1^2*y^2, 2*y*s1+2*x*c1-x^2-y^2, 4*x-x^3-y^2*x+2*y*x*s1-2*y^2*c1-4*s1^2*x+4*y*s1*c1, s1^2+c1^2-1, x*s1-y*c1+s2, -y^2+2-x^2+2*c2];
map(indets, g1);
g2 := Basis(F2, plex(c2, s2, c1, s1));
assume point x = 1, y = 0.5
g2spec := subs({x=1, y=1/2}, [g2[1],g2[3]]);
S1 := [solve(g2spec[1])];
q1a := evalf(arcsin(S1[1]));
q1b := evalf(arcsin(S1[2]));
S2 := [solve(subs(s1=S1[1], g2spec[2])), solve(subs(s1=S1[2], g2spec[2])) ];
q2a := evalf(arcsin(S2[1]));
q2b := evalf(arcsin(S2[2]));
q2a := subs({a=2,b=2}, q2a);
if q2a < 0 then
q2a_pi := evalf(eval(-q2a-Pi));
else
q2a_pi := evalf(eval(Pi-q2a));
end if:
q2a_pi;
q2b := subs({a=2,b=2}, q2b);
if q2b < 0 then
q2b_pi := evalf(eval(-q2b-Pi));
else
q2b_pi := evalf(eval(Pi-q2b));
end if:
q2b_pi;