A Note on the History of Trigonometric Functions

  • Jean-Pierre Merlet
Conference paper


Trigonometric functions appear very frequently in mechanism kinematic equations (for example as soon a revolute joint is involved in the mechanism). Dealing with these functions is di cult and trigonometric substi- tutions are used to transform them into algebraic terms that can be handled more easily. We present briefly the origin of the trigonometric functions and of these substitutions.

Keywords trigonometric substitutions robotics 


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Copyright information

© Kluwer Academic Publishers 2004

Authors and Affiliations

  • Jean-Pierre Merlet
    • 1
  1. 1.INRIASophia-Antipolis CedexFrance

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