ArmReachSpreadsheet.csv

Shoulder Angle (theta),Negative Angle (theta),armX,wristX,shouldX+wristX,phi prime,Wrist Angle (phi),Reach,Height(Y),Constants,
0.0,-360.0,22.0,31.0,53.0,35.3,35.3,53.0,60.0,D,53.0
5.0,-355.0,21.9,31.1,53.0,35.1,30.1,53.0,61.8,shoulder,22.0
10.0,-350.0,21.7,31.3,53.0,34.5,24.5,53.0,63.3,wrist,38.0
15.0,-345.0,21.3,31.7,53.0,33.3,18.3,53.0,64.6,htAboveFloor,38.0
20.0,-340.0,20.7,32.3,53.0,31.7,11.7,53.0,65.5,,
25.0,-335.0,19.9,33.1,53.0,29.5,4.5,53.0,66.0,,
30.0,-330.0,19.1,33.9,53.0,26.7,-3.3,53.0,66.1,,
35.0,-325.0,18.0,35.0,53.0,23.0,-12.0,53.0,65.5,,
40.0,-320.0,16.9,36.1,53.0,18.0,-22.0,53.0,63.9,,
45.0,-315.0,15.6,37.4,53.0,9.8,-35.2,53.0,60.0,,
50.0,-310.0,14.1,38.9,53.0,0.0,-50.0,52.1,54.9,,
55.0,-305.0,12.6,40.4,53.0,0.0,-55.0,50.6,56.0,,
60.0,-300.0,11.0,42.0,53.0,0.0,-60.0,49.0,57.1,,
65.0,-295.0,9.3,43.7,53.0,0.0,-65.0,47.3,57.9,,
70.0,-290.0,7.5,45.5,53.0,0.0,-70.0,45.5,58.7,,
75.0,-285.0,5.7,47.3,53.0,0.0,-75.0,43.7,59.3,,
80.0,-280.0,3.8,49.2,53.0,0.0,-80.0,41.8,59.7,,
85.0,-275.0,1.9,51.1,53.0,0.0,-85.0,39.9,59.9,,
90.0,-270.0,0.0,53.0,53.0,0.0,-90.0,38.0,60.0,,
95.0,-265.0,-1.9,54.9,53.0,0.0,-95.0,36.1,59.9,,
100.0,-260.0,-3.8,56.8,53.0,0.0,-100.0,34.2,59.7,,
105.0,-255.0,-5.7,58.7,53.0,0.0,-105.0,32.3,59.3,,
110.0,-250.0,-7.5,60.5,53.0,0.0,-110.0,30.5,58.7,,
115.0,-245.0,-9.3,62.3,53.0,0.0,-115.0,28.7,57.9,,
120.0,-240.0,-11.0,64.0,53.0,0.0,-120.0,27.0,57.1,,
125.0,-235.0,-12.6,65.6,53.0,0.0,-125.0,25.4,56.0,,
130.0,-230.0,-14.1,67.1,53.0,0.0,-130.0,23.9,54.9,,
135.0,-225.0,-15.6,68.6,53.0,0.0,-135.0,22.4,53.6,,
140.0,-220.0,-16.9,69.9,53.0,0.0,-140.0,21.1,52.1,,
145.0,-215.0,-18.0,71.0,53.0,0.0,-145.0,20.0,50.6,,
150.0,-210.0,-19.1,72.1,53.0,0.0,-150.0,18.9,49.0,,
155.0,-205.0,-19.9,72.9,53.0,0.0,-155.0,18.1,47.3,,
160.0,-200.0,-20.7,73.7,53.0,0.0,-160.0,17.3,45.5,,
165.0,-195.0,-21.3,74.3,53.0,0.0,-165.0,16.7,43.7,,
170.0,-190.0,-21.7,74.7,53.0,0.0,-170.0,16.3,41.8,,
175.0,-185.0,-21.9,74.9,53.0,0.0,-175.0,16.1,39.9,,
180.0,-180.0,-22.0,75.0,53.0,0.0,-180.0,16.0,38.0,,
185.0,-175.0,-21.9,74.9,53.0,0.0,-185.0,16.1,36.1,,
190.0,-170.0,-21.7,74.7,53.0,0.0,-190.0,16.3,34.2,,
195.0,-165.0,-21.3,74.3,53.0,0.0,-195.0,16.7,32.3,,
200.0,-160.0,-20.7,73.7,53.0,0.0,-200.0,17.3,30.5,,
205.0,-155.0,-19.9,72.9,53.0,0.0,-205.0,18.1,28.7,,
210.0,-150.0,-19.1,72.1,53.0,0.0,-210.0,18.9,27.0,,
215.0,-145.0,-18.0,71.0,53.0,0.0,-215.0,20.0,25.4,,
220.0,-140.0,-16.9,69.9,53.0,0.0,-220.0,21.1,23.9,,
225.0,-135.0,-15.6,68.6,53.0,0.0,-225.0,22.4,22.4,,
230.0,-130.0,-14.1,67.1,53.0,0.0,-230.0,23.9,21.1,,
235.0,-125.0,-12.6,65.6,53.0,0.0,-235.0,25.4,20.0,,
240.0,-120.0,-11.0,64.0,53.0,0.0,-240.0,27.0,18.9,,
245.0,-115.0,-9.3,62.3,53.0,0.0,-245.0,28.7,18.1,,
250.0,-110.0,-7.5,60.5,53.0,0.0,-250.0,30.5,17.3,,
255.0,-105.0,-5.7,58.7,53.0,0.0,-255.0,32.3,16.7,,
260.0,-100.0,-3.8,56.8,53.0,0.0,-260.0,34.2,16.3,,
265.0,-95.0,-1.9,54.9,53.0,0.0,-265.0,36.1,16.1,,
270.0,-90.0,0.0,53.0,53.0,0.0,-270.0,38.0,16.0,,
275.0,-85.0,1.9,51.1,53.0,0.0,-275.0,39.9,16.1,,
280.0,-80.0,3.8,49.2,53.0,0.0,-280.0,41.8,16.3,,
285.0,-75.0,5.7,47.3,53.0,0.0,-285.0,43.7,16.7,,
290.0,-70.0,7.5,45.5,53.0,0.0,-290.0,45.5,17.3,,
295.0,-65.0,9.3,43.7,53.0,0.0,-295.0,47.3,18.1,,
300.0,-60.0,11.0,42.0,53.0,0.0,-300.0,49.0,18.9,,
305.0,-55.0,12.6,40.4,53.0,0.0,-305.0,50.6,20.0,,
310.0,-50.0,14.1,38.9,53.0,0.0,-310.0,52.1,21.1,,
315.0,-45.0,15.6,37.4,53.0,9.8,-305.2,53.0,28.9,,
320.0,-40.0,16.9,36.1,53.0,18.0,-302.0,53.0,35.6,,
325.0,-35.0,18.0,35.0,53.0,23.0,-302.0,53.0,40.2,,
330.0,-30.0,19.1,33.9,53.0,26.7,-303.3,53.0,44.1,,
335.0,-25.0,19.9,33.1,53.0,29.5,-305.5,53.0,47.4,,
340.0,-20.0,20.7,32.3,53.0,31.7,-308.3,53.0,50.5,,
345.0,-15.0,21.3,31.7,53.0,33.3,-311.7,53.0,53.2,,
350.0,-10.0,21.7,31.3,53.0,34.5,-315.5,53.0,55.7,,
355.0,-5.0,21.9,31.1,53.0,35.1,-319.9,53.0,57.9,,
360.0,0.0,22.0,31.0,53.0,35.3,-324.7,53.0,60.0,,
90.0,,0.0,53.0,53.0,0.0,-90.0,38.0,60.0,,
85.0,,1.9,51.1,53.0,0.0,-85.0,39.9,59.9,,
80.0,,3.8,49.2,53.0,0.0,-80.0,41.8,59.7,,
75.0,,5.7,47.3,53.0,0.0,-75.0,43.7,59.3,,
70.0,,7.5,45.5,53.0,0.0,-70.0,45.5,58.7,,
65.0,,9.3,43.7,53.0,0.0,-65.0,47.3,57.9,,
60.0,,11.0,42.0,53.0,0.0,-60.0,49.0,57.1,,
55.0,,12.6,40.4,53.0,0.0,-55.0,50.6,56.0,,
50.0,,14.1,38.9,53.0,0.0,-50.0,52.1,54.9,,
45.0,,15.6,37.4,53.0,0.0,-45.0,53.6,53.6,,
40.0,,16.9,36.1,53.0,18.0,-22.0,53.0,63.9,,
35.0,,18.0,35.0,53.0,23.0,-12.0,53.0,65.5,,
30.0,,19.1,33.9,53.0,26.7,-3.3,53.0,66.1,,
25.0,,19.9,33.1,53.0,29.5,4.5,53.0,66.0,,
20.0,,20.7,32.3,53.0,31.7,11.7,53.0,65.5,,
15.0,,21.3,31.7,53.0,33.3,18.3,53.0,64.6,,
10.0,,21.7,31.3,53.0,34.5,24.5,53.0,63.3,,
5.0,,21.9,31.1,53.0,35.1,30.1,53.0,61.8,,
0.0,,22.0,31.0,53.0,35.3,35.3,53.0,60.0,,
-5.0,,21.9,31.1,53.0,35.1,40.1,53.0,57.9,,
-10.0,,21.7,31.3,53.0,34.5,44.5,53.0,55.7,,
-15.0,,21.3,31.7,53.0,33.3,48.3,53.0,53.2,,
-20.0,,20.7,32.3,53.0,31.7,51.7,53.0,50.5,,
-25.0,,19.9,33.1,53.0,29.5,54.5,53.0,47.4,,
-30.0,,19.1,33.9,53.0,26.7,56.7,53.0,44.1,,
-35.0,,18.0,35.0,53.0,23.0,58.0,53.0,40.2,,
-40.0,,16.9,36.1,53.0,18.0,58.0,53.0,35.6,,
-45.0,,15.6,37.4,53.0,0.0,45.0,53.6,22.4,,
-50.0,,14.1,38.9,53.0,0.0,50.0,52.1,21.1,,
-55.0,,12.6,40.4,53.0,0.0,55.0,50.6,20.0,,
-60.0,,11.0,42.0,53.0,0.0,60.0,49.0,18.9,,
-65.0,,9.3,43.7,53.0,0.0,65.0,47.3,18.1,,
-70.0,,7.5,45.5,53.0,0.0,70.0,45.5,17.3,,
-75.0,,5.7,47.3,53.0,0.0,75.0,43.7,16.7,,
-80.0,,3.8,49.2,53.0,0.0,80.0,41.8,16.3,,
-85.0,,1.9,51.1,53.0,0.0,85.0,39.9,16.1,,
-90.0,,0.0,53.0,53.0,0.0,90.0,38.0,16.0,,