0 years, 45 days

## Maple Worksheet...

@Carl Love thank you for your tips. I've tried to follow your suggestions, and now Maple no longer stays calculating for a very long time, but instead outputs [ ] as the solution for my system. Here's the worksheet and again, thank you very much for the help.

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This document is for figuring out the transformation necessary to get the spacemouse working

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 > Defining the rotation matrix. T is a linearized version assuming small angles, but it's not used.
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 (1)
 > P_ni is the position vector of a point on the top plate before the transformation, described by a parameter rho_n
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 (2)
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 (3)
 > Now that p_ni has been transformed and p_n is the transformed point, m_m is the position vector of a point on the bottom plate. These points are not moving at all, and each one is described by a parameter mu_m
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 (4)
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 (5)

Here the distance between the points on the top plate and the bottom plate is calculated, and the distance is left as a function of all the problem's variables and each leg's parameters: ρ_n and μ_n.

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 (6)
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 (7)
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 (8)

Here the parameters for each leg are defined, and with these values, each leg is given it's distance.

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 (9)
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 (10)
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 (11)
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 (12)
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 (13)
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 (14)
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 (15)
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 (16)
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 (17)
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 (18)
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 (19)
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 (20)