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Depending on which Arucus are visible, the position {\tt a} of the motor can be calculated: \begin{itemize} -\item {\tt x} of 223 or ... +\item {\tt x} of 223 or ... (only the $x$ Position, in the graphics in green). It is indipendent of all other angles. \end{itemize} % % the {\tt y} and {\tt z} position of 223 etc can't be used, as it depends on the angle of the forearm and the angle of the bizeps. Thus is it less reliable. (Although it would be a nice -thing to use as a double--check). +thing to use as a double--check). With the $x_{223}$ compared to the $x_{242}$ i can calculate the ellbow turning {\tt a} value: + + +$$ +\sin({\tt a} + \alpha_{\rm }) = \frac{\Delta x}{35\,\rm mm} = \frac{x_{223} - x_{242}}{35\,\rm mm} +$$ + + +\noindent +as I know the angle $\alpha$ (yellow triangle) from the printed geometry of the arm. The $x_{242}$ is calculated from all visible markers of the +sled and bizeps, as their markers are fixed in $x$ position. This $\alpha$ is calculated for all markers of the forearm. + + +\vspace{2mm} + + +\noindent +\includegraphics[height=0.3\linewidth]{pic/robot_frontView_forearm.pdf}\hspace{3mm} +\includegraphics[height=0.3\linewidth]{pic/robot_sideView_forearm.pdf} + +\vspace{2mm} + +\noindent +As the rotation {\tt a} may change for different markers, the median is taken. + \subsection{Forearm} +With the +