# inverse Kinematics/change of subject formular

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• December 30th 2009, 07:30 PM
debobbt
inverse Kinematics/change of subject formular
I need to make a,b,c subject of formular in terms of x,y,z? for this set of equations

x=cos(a)*[kcos(b+c)-msin(b+c)-nsin(b)]
y=sin(a)*[kcos(b+c)-msin(b+c)-nsin(b)]
z=[ksin(b+c)-mcos(b+c)-ncos(b)

Where k=3.0 ,m=2.75 ,n=2.75
• December 30th 2009, 11:39 PM
CaptainBlack
Quote:

Originally Posted by debobbt
I need to make a,b,c subject of formular in terms of x,y,z? for this set of equations

x=cos(a)*[kcos(b+c)-msin(b+c)-nsin(b)]
y=sin(a)*[kcos(b+c)-msin(b+c)-nsin(b)]
z=[ksin(b+c)-mcos(b+c)-ncos(b)

Where k=3.0 ,m=2.75 ,n=2.75

Start by dividing the second by the first to get:

$\tan(a)=\frac{y}{x}$

Then you might find it useful to change variables to $u=b+c$ and $v=b$

CB