机器人运行学逆解常用三角函数方程求解
- \(sin\left(\theta\right)=a\), 求 \(\theta\)
\[\Longrightarrow\theta=atan2\left(a,\pm\sqrt{1-{a}^{2}}\right)
\]
- \(cos\left(\theta\right) = a\),求 \(\theta\)
\[\Longrightarrow\theta=atan2\left(\pm\sqrt{1-{a}^{2}}，a\right)
\]
参考：https://blog.csdn.net/l1216766050/article/details/96899701
