/home/vofy/Projects/fekt-scara/geogebra/arccos

0

π/2

π

-π/2

TCP(x,y)

arctan2(x,y)

ϕ_S

ϕ_E

A = Point(yAxis)
c = Circle(A, 1)
B = Intersect(c, xAxis, 2)
C = Intersect(c, yAxis, 2)
D = Intersect(c, xAxis, 1)
E = Intersect(c, yAxis, 1)
F = Point(xAxis)
l: x^(2) + y^(2) = 1
K = Point(Circle[A, 0.55])
L_1 = Segment(A, K)
I = Point(Circle[K, 0.55])
L_2 = Segment(K, I)
g = Segment(A, I)
ϕ = Angle(B, A, I)
β = Angle(I, A, K)
γ = Angle(A, K, I)