a b teta h Phi X w2 w3

4.5 8 0 2 194.477512 12.2459667 5 2.90473751

4.5 8 10 2 188.761566 12.3382811 5 2.80247449
4.5 8 20 2 183.302849 12.2153284 5 2.64728276
4.5 8 30 2 178.209215 11.8932071 5 2.43688662
4.5 8 40 2 173.594286 11.3972544 5 2.16803548
4.5 8 50 2 169.577813 10.7605562 5 1.83816716
4.5 8 60 2 166.28224 10.0218053 5 1.44754013
4.5 8 70 2 163.8247 9.2224016 5 1.00158034
4.5 8 80 2 162.304733 8.40290955 5 0.51264026
4.5 8 90 2 161.790043 7.59934208 5 1.813E-16
4.5 8 100 2 162.304733 6.84007595 5 -0.5126403
4.5 8 110 2 163.8247 6.14422031 5 -1.0015803
4.5 8 120 2 166.28224 5.52180528 5 -1.4475401
4.5 8 130 2 169.577813 4.97546771 5 -1.8381672
4.5 8 140 2 173.594286 4.50285439 5 -2.1680355
4.5 8 150 2 178.209215 4.09897848 5 -2.4368866
4.5 8 160 2 183.302849 3.75809483 5 -2.6472828
4.5 8 170 2 188.761566 3.47501137 5 -2.8024745
4.5 8 180 2 194.477512 3.24596669 5 -2.9047375
4.5 8 190 2 200.345302 3.06927976 5 -2.954063
4.5 8 200 2 206.256238 2.94597988 5 -2.9469369
4.5 8 210 2 212.089951 2.88060654 5 -2.8749445
4.5 8 220 2 217.702968 2.88233481 5 -2.7231069
4.5 8 230 2 222.914012 2.96646695 5 -2.4684577
4.5 8 240 2 227.488294 3.15592663 5 -2.0810493
4.5 8 250 2 231.13048 3.48130106 5 -1.5328392
4.5 8 260 2 233.509393 3.9761112 5 -0.8212425
4.5 8 270 2 234.340912 4.66368953 5 -8.8625E-16
4.5 8 280 2 233.509393 5.5389448 5 0.82124246
4.5 8 290 2 231.13048 6.55948235 5 1.5328392
4.5 8 300 2 227.488294 7.65592663 5 2.08104933
4.5 8 310 2 222.914012 8.75155544 5 2.46845768
4.5 8 320 2 217.702968 9.7767348 5 2.72310691
4.5 8 330 2 212.089951 10.6748352 5 2.87494454
4.5 8 340 2 206.256238 11.4032135 5 2.94693694
4.5 8 350 2 200.345302 11.9325495 5 2.954063
4.5 8 360 2 194.477512 12.2459667 5 2.90473751

Aceleración vs Theta Aceleración an

200 20
15
150
10
Aceleración angular

100
5
Aceleración

50 0
0 50 100 150
0 -5
0 5 10 15 20 25 30 35 40
-10
-50
-15
-100
-20
 200 20
15
150
10

Aceleración angular
100
5

Aceleración
50 0
0 50 100 150
0 -5
0 5 10 15 20 25 30 35 40
-10
-50
-15
-100
-20
-150 -25
-200 -30

Theta
 v theta 2 theta 3 alpha 2 alpha 3 aceleración
-1.1775927 0 0.25268026 3 0.43571063 -178.72802
-5.003253 0.17453293 0.15291818 3 1.99972285 -177.66967
-8.6736213 0.34906585 0.05764559 3 3.63372546 -167.97923
-12.078909 0.52359878 -0.0312551 3 5.38688758 -150.31526
-15.118861 0.6981317 -0.1118008 3 7.26746109 -125.73936
-17.707697 0.87266463 -0.1819015 3 9.22882216 -95.884154
-19.77811 1.04719755 -0.2394201 3 11.1560563 -63.061855
-21.283145 1.22173048 -0.2823122 3 12.8671717 -30.194736
-22.194868 1.3962634 -0.3088407 3 14.1452064 -0.4372758
-22.5 1.57079633 -0.3178237 3 14.8039131 23.5097828
-22.194868 1.74532925 -0.3088407 3 14.7603747 40.1294289
-21.283145 1.91986218 -0.2823122 3 14.0690682 49.4383626
-19.77811 2.0943951 -0.2394201 3 12.8931044 52.7335236
-17.707697 2.26892803 -0.1819015 3 11.4346228 51.9352929
-15.118861 2.44346095 -0.1118008 3 9.86910366 48.9427193
-12.078909 2.61799388 -0.0312551 3 8.31115153 45.271517
-8.6736213 2.7925268 0.05764559 3 6.81046477 41.9874194
-5.003253 2.96705973 0.15291818 3 5.36269224 39.8140165
-1.1775927 3.14159265 0.25268026 3 3.92139564 39.3006148
2.68917613 3.31612558 0.3550925 3 2.40390492 40.9922178
6.48341158 3.4906585 0.4582578 3 0.68904155 45.5867761
10.0964298 3.66519143 0.56007531 3 -1.3914863 54.0717372
13.4277382 3.83972435 0.65804094 3 -4.0591084 67.7815292
16.3854803 4.01425728 0.74899081 3 -7.5628861 88.1511437
18.8810155 4.1887902 0.82882708 3 -12.049522 115.586949
20.8150576 4.36332313 0.89239522 3 -17.222444 146.639228
22.0640082 4.53785606 0.93391508 3 -21.882977 170.364979
22.5 4.71238898 0.94842784 3 -24.122532 170.296458
22.0640082 4.88692191 0.93391508 3 -22.868468 137.632457
20.8150576 5.06145483 0.89239522 3 -19.061851 81.141657
18.8810155 5.23598776 0.82882708 3 -14.546782 17.8135718
16.3854803 5.41052068 0.74899081 3 -10.525035 -40.340649
13.4277382 5.58505361 0.65804094 3 -7.3268367 -88.590965
10.0964298 5.75958653 0.56007531 3 -4.8414198 -126.12176
6.48341158 5.93411946 0.4582578 3 -2.8472828 -153.32869
2.68917613 6.10865238 0.3550925 3 -1.1409707 -170.72975
-1.1775927 6.28318531 0.25268026 3 0.43571063 -178.72802

Aceleración angular vs Theta

20
15
10
5
0
0 50 100 150 200 250 300 350 400
-5
-10
-15
-20
20
15
10
5
0
0 50 100 150 200 250 300 350 400
-5
-10
-15
-20
-25
-30
Theta