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#X text 29 21 Inverse Kinematics for 2 Joint Arm in 2D space;
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#X obj 303 241 v theta;
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#X obj 32 154 expr theta *180 / (4 * atan(1)) \; psi * 180 / (4 * atan(1))
\; acos ((($f1 * $f1) + ($f2 * $f2) - (L1 * L1) - (L2 * L2)) / (2 *
L1 * L2)) \; asin (($f2 * (L1 + L2 * c2) - $f1 * L2 * s2) / (($f1*$f1)
+ ($f2*$f2))) \; sqrt (1 - (c2 * c2)) \; (($f1*$f1) + ($f2*$f2) - (L1*L1)
- (L2*L2)) / (2 * L1 * L2), f 76;
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#X text 32 287 megrimm 2017;
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