# Serial-arm forward kinematics
# Scope: Two-link planar serial arm pose.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

linkA = 200 mm
linkB = 150 mm
shoulder = 30 deg
elbow = 60 deg

x := linkA*cos(shoulder)+linkB*cos(shoulder+elbow) [mm]
y := linkA*sin(shoulder)+linkB*sin(shoulder+elbow) [mm]
radius := sqrt(x^2+y^2) [mm]

check radial envelope: radius <= 350 mm

scenario alternative: linkA = 160 mm