机器人逆运动学公式推导中常用的方程求解

求方程：$sin(\theta )=a$

则有，$cos(\theta )=\pm \sqrt{1-a^2}$

故，$\theta =atan2(sin(\theta ),cos(\theta ))=atan2(a,\pm \sqrt{1-a^2})$

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求方程：$cos(\theta )=b$

则有，$sin(\theta )=\pm \sqrt{1-b^2}$

故，$\theta =atan2(sin(\theta ),cos(\theta ))=atan2(\pm \sqrt{1-b^2},b)$

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求方程：$a\cdot cos(\theta )+b\cdot sin(\theta )=0$

令：$a=\sqrt{a^2+b^2}sin(\alpha )\Rightarrow sin(\alpha )=\frac{a}{\sqrt{a^2+b^2}},b=\sqrt{a^2+b^2}cos(\alpha )\Rightarrow cos(\alpha )=\frac{b}{\sqrt{a^2+b^2}}$

则有，$\sqrt{a^2+b^2}sin(\alpha )cos(\theta )+\sqrt{a^2+b^2}cos(\alpha )sin(\theta )=0$

即，$\sqrt{a^2+b^2}sin(\alpha +\theta )=0\Rightarrow sin(\alpha +\theta )=\frac{0}{\sqrt{a^2+b^2}}=0$

那么，$cos(\alpha +\theta )=\pm \sqrt{1-0}=\pm 1$

故，$\theta =atan2(sin(\alpha +\theta ),cos(\alpha +\theta ))-atan2(sin(\alpha ),cos(\alpha ))=atan2(0,\pm 1)-atan2(a,b)$

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求方程：$a\cdot cos(\theta )+b\cdot sin(\theta )=c$

令：$a=\sqrt{a^2+b^2}sin(\alpha )\Rightarrow sin(\alpha )=\frac{a}{\sqrt{a^2+b^2}},b=\sqrt{a^2+b^2}cos(\alpha )\Rightarrow cos(\alpha )=\frac{b}{\sqrt{a^2+b^2}}$

则有，$\sqrt{a^2+b^2}sin(\alpha )cos(\theta )+\sqrt{a^2+b^2}cos(\alpha )sin(\theta )=c$

即，$\sqrt{a^2+b^2}sin(\alpha +\theta )=c\Rightarrow sin(\alpha +\theta )=\frac{c}{\sqrt{a^2+b^2}}$

那么，$cos(\alpha +\theta )=\pm \frac{\sqrt{a^2+b^2-c^2}}{\sqrt{a^2+b^2}}$

故，$\theta =atan2(sin(\alpha +\theta ),cos(\alpha +\theta ))-atan2(sin(\alpha ),cos(\alpha ))=atan2(c,\pm \sqrt{a^2+b^2-c^2})-atan2(a,b)$