XC -0.150[m] X position of base center
YL1 -0.950[m] Original Y-coordinate of Link1 axis in Base
ZL1 1.875[m] Original Z-coordinate of Link1 axis in Base
YL2 -0.419[m] Original Y-coordinate of Link2 axis in Boom1
ZL2 1.945[m] Original Z-coordinate of Link2 axis in Boom1
YPE -0.471[m] Original Y-coordinate of Piston1 end
ZPE 1.832[m] Original Z-coordinate of Piston1 end
YCE -0.385[m] Y-coordinate of Cylinder1 end
ZCE 0.550[m] Z-coordinate of Cylinder1 end
dYL1 0[m] Change in Y-coordinate of Link1 axis in Base
dZL1 0[m] Change in Z-coordinate of Link1 axis in Base
dYL2 0[m] Change in Y-coordinate of Link2 axis in Boom1
dZL2 0[m] Change in Z-coordinate of Link2 axis in Boom1
dYPE 0[m] Change in Y-coordinate of Piston1 end
dZPE 0[m] Change in Y-coordinate of Piston1 end
mYL1 YL1+dYL1 Modified Y-coordinate of Link1 axis in Base
mZL1 ZL1+dZL1 Modified Z-coordinate of Link1 axis in Base
mYL2 YL2+dYL2 Modified Y-coordinate of Link2 axis in Boom1
mZL2 ZL2+dZL2 Modified Z-coordinate of Link2 axis in Boom1
mYPE YPE+dYPE Modified Y-coordinate of Piston1 end
mZPE ZPE+dZPE Modified Z-coordinate of Piston1 end
lCyl sqrt((YPE-YCE)^2+(ZPE-ZCE)^2) Original length between ends of Cylinder1+Piston1
mlCyl sqrt((mYPE-YCE)^2+(mZPE-ZCE)^2) Modified length between ends of Cylinder1+Piston1
cylRot asin(((YPE-YCE)*(mZPE-ZCE)-(ZPE-ZCE)*(mYPE-YCE))/(lCyl*mlCyl)) Change in slope of Cylinder1+Piston1
dL2PE sqrt((YPE-YL2)^2+(ZPE-ZL2)^2) Original distance between the two ends of Link2
mdL2PE sqrt((mYPE-mYL2)^2+(mZPE-mZL2)^2) Modified distance between the two ends of Link2