Equations of the form (a cos theta + bsin theta = c) arise frequently when analytically solving robot kinematic equations. This document and associated MATLAB mlx file illustrate a variety of solutions using trigonometric identities and an algebraic transformation (the Weierstrass transformation).
Download: Solving trigonometric equations (PDF, 146 kB)Download: MATLAB live script sincos.mlx (MLX, 5 kB)
Posted on Monday July 23, 2018
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