Time Shoulder_angle Elbow_angle W1 alpha1 W2 alpha2 M1-M2 M2 M1 Rel.

Angle
0 -0.03394423 -0.05440752 -0.315531 1.708461 8.230444 77.62198 26.98831 72.59086 99.5791707 -0.020463
0.00833333 -0.03657365 0.01417949 -0.301293 4.824387 8.877294 164.7554 67.16826 154.8744 222.0426346 0.0507531
0.01666667 -0.03908443 0.088157 -0.26109 5.951669 10.25026 241.4283 87.39752 227.0813 314.4788671 0.1272414
0.025 -0.04126018 0.17357577 -0.211493 6.728284 12.26216 309.7083 101.2005 291.4254 392.6258489 0.214836
0.03333333 -0.04302262 0.27576038 -0.155424 7.250087 14.84306 367.9941 107.3104 346.4376 453.7480362 0.318783
0.04166667 -0.04431782 0.39945264 -0.095006 7.533798 17.90968 415.0845 102.9306 390.9998 493.930416 0.4437705
0.05 -0.04510954 0.54869991 -0.032225 7.583186 21.36872 450.4267 84.45557 424.5835 509.0390699 0.5938095
0.05833333 -0.04537808 0.72677247 0.030968 7.397426 25.12227 474.1455 48.22906 447.2739 495.5029597 0.7721506
0.06666667 -0.04512001 0.93612489 0.092614 6.983574 29.07349 486.9616 -7.83801 459.6935 451.8554678 0.9812449
0.075 -0.04434823 1.17840384 0.15081 6.355848 33.1315 490.1584 -81.8729 462.9696 381.0966733 1.2227521
0.08333333 -0.04309148 1.45449954 0.203775 5.538267 37.21615 485.4305 -165.205 458.5977 293.3931678 1.497591
0.09166667 -0.04139335 1.76463436 0.249928 4.564516 41.26141 474.6707 -240.286 448.2519 207.9656094 1.8060277
0.1 -0.03931062 2.10847927 0.287965 3.471941 45.21699 459.9001 -281.216 433.7378 152.5222263 2.1477899
0.10833333 -0.03691091 2.4852874 0.316898 2.305341 49.04949 443.0786 -258.627 416.8451 158.2176398 2.5221983
0.11666667 -0.03427009 2.8940335 0.336109 1.109953 52.74182 425.8945 -149.921 399.1866 249.2658303 2.9283036
0.125 -0.03146918 3.33354847 0.345359 -0.06773 56.29094 409.7799 46.85078 382.2512 429.101969 3.3650177
0.13333333 -0.02859119 3.80263942 0.344795 -1.18176 59.70577 395.7934 300.0363 367.3167 667.3530241 3.8312306
0.14166667 -0.0257179 4.30018788 0.334947 -2.19211 63.00405 384.4997 539.6781 355.3223 895.0004481 4.3259058
0.15 -0.02292668 4.82522141 0.316679 -3.06105 66.20821 376.1321 668.6511 346.9402 1015.591321 4.8481481
0.15833333 -0.02028769 5.37695629 0.29117 -3.75879 69.34265 370.5668 593.6082 342.3988 936.0070144 5.397244
0.16666667 -0.01786127 5.95481213 0.259847 -4.26269 72.4307 367.2979 271.5975 341.2614 612.8589425 5.9726734
0.175 -0.01569588 6.55840109 0.224324 -4.55734 75.49152 365.6992 -243.527 342.5089 98.98193804 6.574097
0.18333333 -0.01382651 7.18749683 0.186347 -4.63648 78.53901 365.0409 -781.734 344.5514 -437.1827064 7.2013233
0.19166667 -0.01227362 7.84198911 0.147709 -11.8113 81.58102 361.9117 -1157.59 343.0738 -814.5114314 7.8542627
0.2 -0.01104271 8.52183068 0.049282 1.09252 84.59695 364.9525 -908.851 344.7979 -564.053549 8.5328734
0.20833333 -0.01063203 9.22680499 0.058386 -4.17239 87.63822 360.9116 -319.379 339.019 19.63972883 9.237437
0.21666667 -0.01014548 9.95712408 0.023616 -3.54931 90.64582 356.8126 592.0879 331.7176 923.8054915 9.9672696
0.225 -0.00994868 10.71250561 -0.005962 -2.82888 93.61926 351.011 1296.501 323.8111 1620.311979 10.722454
0.23333333 -0.00999836 11.49266577 -0.029536 -2.01888 96.54435 343.4009 1298.791 316.8003 1615.591401 11.502664
0.24166667 -0.01024449 12.29720264 -0.04636 -1.1556 99.40602 334.0402 441.495 310.9001 752.3950709 12.307447
0.25 -0.01063082 13.12558584 -0.05599 -0.27834 102.1897 323.2364 -851.621 304.6718 -546.9492549 13.136217
0.25833333 -0.0110974 13.97716626 -0.058309 0.575847 104.8833 311.3905 -1710.45 295.7876 -1414.667126 13.988264
0.26666667 -0.01158331 14.85119468 -0.05351 1.370881 107.4782 298.8051 -1387.96 282.7776 -1105.183031 14.862778
0.275 -0.01202923 15.7468464 -0.042086 2.075189 109.9683 285.9074 70.24707 266.8095 337.0565903 15.758876
0.28333333 -0.01237995 16.66324846 -0.024793 2.661115 112.3509 273.0877 1644.755 251.2676 1896.02272 16.675628
0.29166667 -0.01258656 17.59950631 -0.002617 3.108386 114.6266 260.519 2006.632 239.2949 2245.926748 17.612093
0.3 -0.01260837 18.55472747 0.023286 3.402427 116.7976 248.4338 668.9949 231.438 900.4329108 18.567336
0.30833333 -0.01241432 19.52804021 0.05164 13.91155 118.8679 185.7658 -1281.36 178.3285 -1103.026973 19.540455
0.31666667 -0.01198399 20.51860647 0.167569 -5.75367 120.4159 271.6654 -2337.46 258.7731 -2078.68658 20.53059
0.325 -0.01058758 21.52207195 0.119622 3.277277 122.6798 216.1592 -1056.93 203.7607 -853.1661702 21.53266
0.33333333 -0.00959073 22.54440307 0.146933 2.88866 124.4811 206.7035 1306.783 190.4136 1497.196788 22.553994
0.34166667 -0.00836629 23.58174648 0.171005 2.398178 126.2036 197.4953 2542.871 179.9755 2722.846374 23.590113
0.35 -0.00694125 24.63344306 0.19099 1.81394 127.8494 188.4808 1265.599 174.2334 1439.832004 24.640384
0.35833333 -0.00534967 25.69885458 0.206106 1.165133 129.4201 179.5599 -1400.48 170.5591 -1229.920714 25.704204
0.36666667 -0.00363212 26.77735633 0.215815 0.487296 130.9164 170.4732 -2703.71 164.0662 -2539.647465 26.780988
0.375 -0.00183366 27.86832623 0.219876 -0.18637 132.3371 161.1491 -1115.71 152.5538 -963.1541686 27.87016
0.38333333 -0.00000136 28.97113454 0.218323 -0.82134 133.68 151.5405 1790.455 138.7753 1929.230228 28.971136
0.39166667 0.001818 30.08513509 0.211478 -15.2038 134.9428 201.808 2676.414 183.5602 2859.974555 30.083317
0.4 0.00358032 31.20965795 0.08478 13.10067 136.6245 63.9932 740.4897 60.90162 801.3913121 31.206078
0.40833333 0.00428682 32.34819524 0.193952 -1.93879 137.1578 118.8584 -2390.01 114.7156 -2275.293168 32.343908
0.41666667 0.00590309 33.49117787 0.177796 -2.21256 138.1483 107.8103 -2681.7 105.0765 -2576.628147 33.485275
0.425 0.00738472 34.64241319 0.159358 -2.37156 139.0467 96.32429 201.1783 90.03869 291.2170221 34.635028
0.43333333 0.0087127 35.80113533 0.139595 -2.41183 139.8494 84.56538 2898.494 74.75203 2973.245826 35.792423
0.44166667 0.00987599 36.96654805 0.119496 -2.33208 140.5541 72.40542 2103.145 64.28987 2167.434721 36.956672
0.45 0.01087179 38.13783197 0.100062 -2.12819 141.1575 59.89258 -1319 57.68388 -1261.312553 38.12696
0.45833333 0.01170564 39.31414404 0.082327 -1.79207 141.6566 47.0695 -3191.64 48.70229 -3142.938143 39.302438
0.46666667 0.0123917 40.49461673 0.067393 -3.52527 142.0489 54.31569 -1159.79 52.89748 -1106.895013 40.482225
0.475 0.01295331 41.67835672 0.038016 2.679401 142.5015 -12.9929 2386.389 -15.9193 2370.469897 41.665403
0.48333333 0.01327011 42.86586863 0.060344 -12.0645 142.3932 38.57678 2800.445 31.04107 2831.485962 42.852599
0.49166667 0.01377298 44.05247968 -0.040193 16.64296 142.7147 -28.0301 -40.2299 -23.2478 -63.4777409 44.038707
0.5 0.01343804 45.24176825 0.098498 1.254369 142.4811 -34.2901 -3037.15 -27.5341 -3064.680999 45.22833
0.50833333 0.01425886 46.42911029 0.108952 -4.42683 142.1954 -9.69549 -2122.1 -5.53109 -2127.630347 46.414851
0.51666667 0.01516679 47.6140725 0.072061 2.65061 142.1146 -47.6669 1492.828 -47.1483 1445.679782 47.598906
0.525 0.0157673 48.79835999 0.09415 3.315729 141.7173 -62.0563 3196.41 -62.6392 3133.770716 48.782593
0.53333333 0.01655188 49.97933728 0.121781 3.711328 141.2002 -74.9957 962.5437 -70.8828 891.6608649 49.962785
0.54166667 0.01756672 51.15600652 0.152708 3.859923 140.5752 -86.6629 -2372.45 -76.9893 -2449.437571 51.13844
0.55 0.01883929 52.32746631 0.184874 3.825764 139.853 -97.4996 -2717.2 -87.2987 -2804.49467 52.308627
0.55833333 0.02037991 53.49290785 0.216756 3.645822 139.0405 -107.852 249.5093 -101.819 147.6901666 53.472528
0.56666667 0.02218621 54.65157998 0.247138 3.339795 138.1418 -118.066 2876.157 -115.02 2761.136589 54.629394
0.575 0.02424569 55.80276096 0.274969 2.922439 137.1579 -128.171 2085.452 -122.695 1962.756335 55.778515
0.58333333 0.0265371 56.94574291 0.299323 2.405706 136.0898 -138.056 -1060.9 -126.908 -1187.805414 56.919206
0.59166667 0.02903146 58.07982547 0.319371 1.805617 134.9393 -147.763 -2861.9 -133.437 -2995.340493 58.050794
0.6 0.03169288 59.20431944 0.334417 1.137551 133.708 -157.221 -1368.77 -144.958 -1513.724824 59.172627
0.60833333 0.03447969 60.3185521 0.343897 0.417505 132.3978 -166.377 1579.09 -158.381 1420.709203 60.284072
0.61666667 0.0373455 61.42186798 0.347376 -0.33768 131.0113 -175.367 2691.386 -168.618 2522.767793 61.384522
0.625 0.0402403 62.51362855 0.344562 -1.308 129.5499 -165.134 897.0238 -156.066 740.9581911 62.473388
0.63333333 0.04311165 63.5932109 0.333662 -1.90493 128.1738 -218.287 -1754.02 -201.078 -1955.101507 63.550099
0.64166667 0.04589217 64.66132688 0.317788 -2.41589 126.3548 -199.818 -2484.95 -182.199 -2667.145605 64.615435
0.65 0.0485404 65.71428274 0.297655 -3.24753 124.6896 -208.904 -741.881 -193.627 -935.5076832 65.665742
0.65833333 0.05102086 66.75336239 0.270593 -3.97623 122.9487 -218.165 1585.966 -206.816 1379.150147 66.702342
0.66666667 0.0532758 67.77793606 0.237457 -4.59317 121.1307 -227.822 2239.749 -217.71 2022.039431 67.72466
0.675 0.05525461 68.78735815 0.199181 -6.63929 119.2322 -229.145 750.0941 -216.734 533.3605087 68.732104
0.68333333 0.05691445 69.78095927 0.143853 -7.92919 117.3226 -258.955 -1349.15 -240.252 -1589.404534 69.724045
0.69166667 0.05811323 70.75864875 0.077777 -3.19522 115.1647 -259.185 -2126.51 -237.651 -2364.160592 70.700536
0.7 0.05876137 71.71835406 0.05115 -4.38423 113.0048 -270.117 -1139.04 -249.579 -1388.613918 71.659593
0.70833333 0.05918762 72.66006045 0.014615 -5.09918 110.7538 -281.327 653.6298 -264.117 389.512668 72.600873
0.71666667 0.05930941 73.58300983 -0.027878 -5.49418 108.4094 -292.665 1742.417 -277.926 1464.491392 73.5237
0.725 0.05907709 74.48642151 -0.073663 -5.58848 105.9706 -303.712 1392.454 -288.173 1104.281169 74.427344
0.73333333 0.05846323 75.36950928 -0.120234 -5.43242 103.4396 -314.037 51.2221 -294.612 -243.389972 75.311046
0.74166667 0.05746128 76.23150702 -0.165504 -5.08536 100.8227 -323.367 -1207.53 -299.446 -1506.980586 76.174046
0.75 0.05608208 77.07169562 -0.207882 -4.60293 98.12795 -331.349 -1560.19 -305.104 -1865.295574 77.015614
0.75833333 0.05434973 77.88942823 -0.24624 -4.03319 95.36671 -337.73 -926.803 -312.442 -1239.245441 77.835079
0.76666667 0.05229773 78.68415149 -0.27985 -3.41352 92.5523 -342.515 149.5166 -320.384 -170.8676645 78.631854
0.775 0.04996565 79.45542034 -0.308296 -2.77555 89.69801 -345.742 982.0806 -326.708 655.3727187 79.405455
0.78333333 0.04739652 80.20290345 -0.331425 -2.1455 86.81682 -347.643 1171.721 -329.742 841.9792525 80.155507
0.79166667 0.04463464 80.92637757 -0.349305 -1.54469 83.9198 -348.736 748.3478 -329.461 418.8869637 80.881743
0.8 0.04172377 81.62570894 -0.362177 -0.99297 81.01366 -349.594 37.8974 -327.286 -289.388122 81.583985
0.80833333 0.03870563 82.30082252 -0.370452 -0.50549 78.10038 -350.907 -580.226 -325.428 -905.6535115 82.262117
0.81666667 0.03561853 82.95165954 -0.374664 -0.09576 75.17615 -353.524 -863.607 -326.048 -1189.655026 82.916041
0.825 0.03249633 83.57812722 -0.375462 0.226278 72.23012 -358.154 -771.975 -330.418 -1102.393635 83.545631
0.83333333 0.02936748 84.18004462 -0.373577 1.259946 69.2455 -344.817 -418.699 -319.732 -738.4310451 84.150677
0.84166667 0.02625434 84.75709092 -0.363077 -3.02299 66.37202 -397.824 -27.5827 -371.173 -398.7554471 84.730837
0.85 0.0232287 85.31019088 -0.388269 1.704583 63.05683 -389.356 352.1628 -366.49 -14.32683369 85.286962
0.85833333 0.01999313 85.83566423 -0.374064 1.215738 59.81219 -405.585 520.4722 -383.317 137.1554162 85.815671
0.86666667 0.01687593 86.33409957 -0.363933 0.967537 56.43231 -423.998 516.663 -401.144 115.5189826 86.317224
0.875 0.01384316 86.80436866 -0.35587 0.657123 52.899 -443.474 387.5188 -418.919 -31.39987317 86.790526
0.88333333 0.01087758 87.24519349 -0.350394 0.312141 49.20339 -462.488 204.0646 -435.486 -231.4209552 87.234316
0.89166667 0.00795763 87.65522203 -0.347793 -0.05429 45.34931 -479.265 29.15169 -449.548 -420.3964493 87.647264
0.9 0.00505936 88.03313282 -0.348245 -0.42489 41.35544 -491.754 -98.5424 -459.529 -558.0712416 88.028073
0.90833333 0.00215732 88.37776134 -0.351786 -0.78399 37.25749 -497.857 -166.93 -463.714 -630.6445768 88.375604
0.91666667 -0.00077423 88.68824068 -0.358319 -1.11326 33.10868 -495.619 -183.572 -460.412 -643.984462 88.689015
0.925 -0.00376022 88.96414621 -0.367596 -1.39876 28.97852 -483.295 -165.579 -448.033 -613.612199 88.967906
0.93333333 -0.00682352 89.2056338 -0.379252 -1.62567 24.95106 -459.572 -130.924 -425.319 -556.2437698 89.212457
0.94166667 -0.00998396 89.4135595 -0.3928 -1.78287 21.1213 -423.722 -93.456 -391.53 -484.9855818 89.423543
0.95 -0.01325729 89.58957023 -0.407657 -1.86359 17.59028 -375.63 -61.3986 -346.483 -407.8818372 89.602828
0.95833333 -0.01665443 89.73615585 -0.423187 -1.86371 14.46003 -315.899 -38.1119 -290.678 -328.789368 89.75281
0.96666667 -0.02018099 89.8566562 -0.438718 -1.78215 11.82753 -245.847 -23.7455 -225.293 -249.0383586 89.876837
0.975 -0.02383697 89.95521895 -0.453569 -1.62137 9.778815 -167.417 -16.8489 -152.113 -168.9619754 89.979056
0.98333333 -0.02761671 90.03670904 -0.46708 -1.37987 8.383673 -83.0963 -15.4598 -73.4435 -88.90324389 90.064326
0.99166667 -0.03150905 90.10657304 -0.478579 -1.13838 7.691204 1.22451 -18.2575 5.220107 -13.03743227 90.138082
1 -0.03549721 90.17066638 -0.488066 -0.89688 7.701408 85.54528 -24.1496 83.87436 59.72475836 90.206164