🚀 go-pugleaf

 
        I was speaking with a prof from U of Waterloo a while ago, and he 
was telling me about a formula that was used to position a multi-segment 
arm.  All that was given was the point where the end effector was to be 
(in space) and the formula would calculate the angles required by each of 
the joints in order to place the end effector at that point... ie:
 


                        0---0
                       /     \
                      /       \
 desired position => o         \
                                \
                                0----0---0--o <= original position
 
        The diagram is not to proper scale, for obvious reasons, however 
        it best describes what I'm looking for.
 
   If anyone can help me with this, it would be greatly appreciated!
 
        >>Baden<<