<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
    <Sidops>
<![CDATA[inverse_kinematics 352 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:26:18</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'Submodel-Equation'
  ports
   signal in input [2,1] {m} ;
   signal out angle1 {rad} ;
   signal out angle2 {rad} ;
   signal out a {rad} ;
   signal out b {rad} ;
   signal out c {rad} ;
   signal out phi {rad} ;
 end;
 implementation eq
parameters
	real global A_length; // length of first arm
	real global B_length; // length of second arm
	real to_rad = 1 {rad};
variables
	real x {m}, y {m};
	real C_length {m}; // length to x and y.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	angle2 =  angle1 - pi * to_rad + c;
	
	

 implementation_end;
]]>
  </Sidops>
</Model>
 <Experiments>
  <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
   <Name>Experiment 1</Name>
   <CreatedBy></CreatedBy>
   <Info></Info>
   <ExpData>
    <VersionNumber>4.8</VersionNumber>
    <ModelProperties></ModelProperties>
    <Variables>
     <Constants></Constants>
     <Parameters>
      <Variable>
       <Name>A</Name>
       <Value>0.1</Value>
      </Variable>
      <Variable>
       <Name>A_length</Name>
       <Description><![CDATA[length of first arm]]>
</Description>
       <Value>0</Value>
      </Variable>
      <Variable>
       <Name>B</Name>
       <Value>0.1</Value>
      </Variable>
      <Variable>
       <Name>B_length</Name>
       <Description><![CDATA[length of second arm]]>
</Description>
       <Value>0</Value>
      </Variable>
     </Parameters>
    </Variables>
    <PlotSpecs>
     <VarNames>
      <VarName>time</VarName>
      <VarName>Submodel2\end_effector[2]</VarName>
      <VarName>Submodel2\joint1[2]</VarName>
      <VarName>Submodel2\end_effector[1]</VarName>
      <VarName>Submodel2\joint1[1]</VarName>
      <VarName>rectanglepath\output[1]</VarName>
      <VarName>rectanglepath\output[2]</VarName>
      <VarName>rectanglepath\test1</VarName>
      <VarName>rectanglepath\test2</VarName>
      <VarName>rectanglepath\test3</VarName>
      <VarName>Constant\output[1]</VarName>
      <VarName>Constant\output[2]</VarName>
     </VarNames>
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        <BGColor>16777215</BGColor>
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        <GridColor>15780518</GridColor>
        <GridBorderLineColor>12624260</GridBorderLineColor>
        <GridZeroLineColor>0</GridZeroLineColor>
        <XTicks>10</XTicks>
        <YTicks>10</YTicks>
        <ZTicks>10</ZTicks>
        <Use3DLook>false</Use3DLook>
       </Grid>
       <PlotBGColor>16777215</PlotBGColor>
       <ShowPlotTitle>true</ShowPlotTitle>
       <TitlePosition>1</TitlePosition>
       <PlotTitle>model</PlotTitle>
       <ShowXValues>true</ShowXValues>
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         <PitchFamily>34</PitchFamily>
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         <UnderLine>0</UnderLine>
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         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
         <Italic>0</Italic>
         <UnderLine>0</UnderLine>
         <StrikeOut>0</StrikeOut>
         <Color>0</Color>
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         <Height>10</Height>
         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
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         <Height>12</Height>
         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
         <Italic>0</Italic>
         <UnderLine>0</UnderLine>
         <StrikeOut>0</StrikeOut>
         <Color>0</Color>
        </LegendFont>
       </Fonts>
       <SharedXAxis>true</SharedXAxis>
       <SharedYAxis>true</SharedYAxis>
       <SharedZAxis>false</SharedZAxis>
       <XAxes>
        <Axis>
         <Minimum>-0.049999931062904804</Minimum>
         <Maximum>0.12000000000000034</Maximum>
         <Linear>true</Linear>
         <Scaling>3</Scaling>
         <Label>end_effector[1]</Label>
        </Axis>
       </XAxes>
       <YAxes>
        <Axis>
         <Minimum>0.019999999999999997</Minimum>
         <Maximum>0.12</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>end_effector[2]</Label>
        </Axis>
        <Axis>
         <Minimum>0.0</Minimum>
         <Maximum>5.0</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>joint1[2]</Label>
        </Axis>
        <Axis>
         <Minimum>0.0</Minimum>
         <Maximum>5.0</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>output[2]</Label>
        </Axis>
       </YAxes>
       <ZAxes></ZAxes>
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         <LineThickness>1</LineThickness>
         <LineOrder>1</LineOrder>
         <ShowYValues>true</ShowYValues>
         <XCurveData>
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     <VarName>Submodel2\end_effector[1]</VarName>
         </XCurveData>
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         <LineStyle>1</LineStyle>
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         <ShowYValues>true</ShowYValues>
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         </XCurveData>
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         <ShowYValues>true</ShowYValues>
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     <ShowUnit>true</ShowUnit>
     <VarName>Constant\output[1]</VarName>
         </XCurveData>
         <YCurveData>
     <ShowUnit>true</ShowUnit>
     <VarName>Constant\output[2]</VarName>
         </YCurveData>
        </Curve>
       </Curves>
       <Legenda>
        <ShowLegenda>true</ShowLegenda>
        <BorderPenColor>0</BorderPenColor>
        <BackgroundColor>16777215</BackgroundColor>
       </Legenda>
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        <PlotId>2</PlotId>
        <UseWindowsBGColor>false</UseWindowsBGColor>
        <BGColor>16777215</BGColor>
        <PlotIsVisible>true</PlotIsVisible>
       </BasePlot>
       <Grid>
        <DrawGrid>true</DrawGrid>
        <GridColor>15780518</GridColor>
        <GridBorderLineColor>12624260</GridBorderLineColor>
        <GridZeroLineColor>0</GridZeroLineColor>
        <XTicks>10</XTicks>
        <YTicks>10</YTicks>
        <ZTicks>10</ZTicks>
        <Use3DLook>false</Use3DLook>
       </Grid>
       <PlotBGColor>16777215</PlotBGColor>
       <ShowPlotTitle>true</ShowPlotTitle>
       <TitlePosition>1</TitlePosition>
       <PlotTitle>model(1)</PlotTitle>
       <ShowXValues>true</ShowXValues>
       <Fonts>
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         <Height>12</Height>
         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
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         <UnderLine>0</UnderLine>
         <StrikeOut>0</StrikeOut>
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         <Name>Arial</Name>
         <Height>12</Height>
         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
         <Italic>0</Italic>
         <UnderLine>0</UnderLine>
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         <Color>0</Color>
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         <Height>10</Height>
         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
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         <UnderLine>0</UnderLine>
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         <Color>0</Color>
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         <Height>12</Height>
         <PitchFamily>34</PitchFamily>
         <Weight>400</Weight>
         <Italic>0</Italic>
         <UnderLine>0</UnderLine>
         <StrikeOut>0</StrikeOut>
         <Color>0</Color>
        </LegendFont>
       </Fonts>
       <SharedXAxis>true</SharedXAxis>
       <SharedYAxis>true</SharedYAxis>
       <SharedZAxis>false</SharedZAxis>
       <XAxes>
        <Axis>
         <Minimum>0.0</Minimum>
         <Maximum>40.0</Maximum>
         <Linear>true</Linear>
         <Scaling>3</Scaling>
         <Label>time</Label>
        </Axis>
       </XAxes>
       <YAxes>
        <Axis>
         <Minimum>0.03</Minimum>
         <Maximum>0.13</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>output[1]</Label>
        </Axis>
        <Axis>
         <Minimum>-4.0</Minimum>
         <Maximum>1.0</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>output[2]</Label>
        </Axis>
        <Axis>
         <Minimum>-4.0</Minimum>
         <Maximum>1.0</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>test1</Label>
        </Axis>
        <Axis>
         <Minimum>-4.0</Minimum>
         <Maximum>1.0</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>test2</Label>
        </Axis>
        <Axis>
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         <Maximum>1.0</Maximum>
         <Linear>true</Linear>
         <Scaling>2</Scaling>
         <Label>test3</Label>
        </Axis>
       </YAxes>
       <ZAxes></ZAxes>
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         <LineStyle>1</LineStyle>
         <TickColor>3355111</TickColor>
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         <LineThickness>1</LineThickness>
         <LineOrder>1</LineOrder>
         <ShowYValues>true</ShowYValues>
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     <ShowUnit>true</ShowUnit>
     <VarName>time</VarName>
         </XCurveData>
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     <VarName>rectanglepath\output[1]</VarName>
         </YCurveData>
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         <LineStyle>1</LineStyle>
         <TickColor>6076255</TickColor>
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         <LineThickness>1</LineThickness>
         <LineOrder>1</LineOrder>
         <ShowYValues>true</ShowYValues>
         <XCurveData>
     <ShowUnit>true</ShowUnit>
     <VarName>time</VarName>
         </XCurveData>
         <YCurveData>
     <ShowUnit>true</ShowUnit>
     <VarName>rectanglepath\test1</VarName>
         </YCurveData>
        </Curve>
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         <TickColor>15086320</TickColor>
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         <LineOrder>1</LineOrder>
         <ShowYValues>true</ShowYValues>
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     <ShowUnit>true</ShowUnit>
     <VarName>time</VarName>
         </XCurveData>
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     <VarName>rectanglepath\test3</VarName>
         </YCurveData>
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        <BorderPenColor>0</BorderPenColor>
        <BackgroundColor>16777215</BackgroundColor>
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       <UseInitialStepSize>false</UseInitialStepSize>
       <InitialStepSize>0.001</InitialStepSize>
       <UseMaximumStepSize>false</UseMaximumStepSize>
       <MaximumStepSize>1.0</MaximumStepSize>
       <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
       <RelativeTolerance>1.0e-6</RelativeTolerance>
       <VodeUseBDF>true</VodeUseBDF>
       <VodeUseNewton>true</VodeUseNewton>
      </IntegrationMethod>
      <IntegrationMethod>
       <Name>BDFMethod</Name>
       <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
       <RelativeTolerance>1.0e-5</RelativeTolerance>
       <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
       <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
       <UseInitialStepSize>false</UseInitialStepSize>
       <InitialStepSize>0.001</InitialStepSize>
       <UseMaximumStepSize>false</UseMaximumStepSize>
       <MaximumStepSize>1.0</MaximumStepSize>
      </IntegrationMethod>
      <IntegrationMethod>
       <Name>MeBDFiMethod</Name>
       <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
       <RelativeTolerance>1.0e-5</RelativeTolerance>
       <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
       <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
       <UseInitialStepSize>false</UseInitialStepSize>
       <InitialStepSize>0.001</InitialStepSize>
       <UseMaximumStepSize>false</UseMaximumStepSize>
       <MaximumStepSize>1.0</MaximumStepSize>
      </IntegrationMethod>
      <SelectedIntegrationMethod>8</SelectedIntegrationMethod>
     </IntegrationMethods>
    </RunSpecs>
    <MultipleRun>
     <NrSteps>10</NrSteps>
     <CopyFromStates>false</CopyFromStates>
     <JoinParameterVariation>true</JoinParameterVariation>
     <ClearAfterRun>true</ClearAfterRun>
     <RedrawAfterRun>false</RedrawAfterRun>
     <DrawDuringSimulation>true</DrawDuringSimulation>
     <ActionBeforeOptimization>0</ActionBeforeOptimization>
     <CompareValue>0.0</CompareValue>
     <UseCompareValue>true</UseCompareValue>
     <MultipleRunType>MultipleRun</MultipleRunType>
     <Minimize>true</Minimize>
     <OptimizationVariable></OptimizationVariable>
     <ResulVarUsage>UseEndValue</ResulVarUsage>
     <Tolerance>0.001</Tolerance>
     <OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>
     <MultipleRunVariables></MultipleRunVariables>
    </MultipleRun>
    <ExportData>
     <WriteAsText>true</WriteAsText>
     <ReadAsText>true</ReadAsText>
     <WriteHeader>true</WriteHeader>
     <ReadHeader>true</ReadHeader>
     <ReadFilename></ReadFilename>
     <WriteFilename></WriteFilename>
     <DoWrite>false</DoWrite>
     <ExportVariables></ExportVariables>
     <ImportVariables></ImportVariables>
    </ExportData>
    <BreakPoints></BreakPoints>
   </ExpData>
  </Experiment>
 </Experiments>
</Document>
