COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002		REAL A(3,6),B(3,6),R(3),T(3,3),L(3,6),S(6)
C00008 ENDMK
C⊗;
	REAL A(3,6),B(3,6),R(3),T(3,3),L(3,6),S(6)
	REAL LI,A1,B1,G1,X1,Y1,Z1,DX,DY,DZ,ALTHA,BETA,GAMMA
	PI=3.14159265
C	REQUESTS THE LINEAR DISPLACEMENT OF THE OUTPUT PLATE
1	TYPE 175
	ACCEPT 205,X1,Y1,Z1
C	REQUESTS THE ANGULAR ROTATION OF THE OUTPUT PLATE
	TYPE 180
	ACCEPT 200,A1,B1,G1
C	TYPE 235
C	REPEATS WHAT WE JUST TYPED IN, AS A CHECK
	TYPE 240, X1,Y1,Z1
C	TYPE 220
	TYPE 230, A1,B1,G1
C	THIS IS THE COORDINATES OF THE SIX LEG ENDS IN THE MOVING FRAME
	DATA (A(I,1),I=1,3)/5.774,-10.0,0.0/
	DATA (A(I,2),I=1,3)/-11.55,0.0,0.0/
	DATA (A(I,3),I=1,3)/-11.55,0.0,0.0/
	DATA (A(I,4),I=1,3)/5.774,10.0,0.0/
	DATA (A(I,5),I=1,3)/5.774,10.0,0.0/
	DATA (A(I,6),I=1,3)/5.774,-10.0,0.0/
C	DO 5 J=1,6
C	TYPE 185
C	ACCEPT 205, (A(I,J),I=1,3)
C5	CONTINUE
C	THIS IS THE COORDINATES OF THE SIX LEG ENDS IN THE FIXED FRAME
	DATA (B(I,1),I=1,3)/-5.774,-10.0,0.0/
 	DATA (B(I,2),I=1,3)/-5.774,-10.0,0.0/
	DATA (B(I,3),I=1,3)/-5.774,10.0,0.0/
	DATA (B(I,4),I=1,3)/-5.774,10.0,0.0/
	DATA (B(I,5),I=1,3)/11.55,0.0,0.0/
	DATA (B(I,6),I=1,3)/11.55,0.0,0.0/
C	DO 10 J=1,6
C	TYPE 190
C	ACCEPT 205, (B(I,J),I=1,3)
10	CONTINUE
C	HERE WE SET UP THE DISPLACEMENTS OF THE TWO COORDINATE FRAMES
	DX=0.0
	DY=0.0
	DZ=20.0
C	TYPE 195
C	ACCEPT 205, DX,DY,DZ
C	HERE WE SET UP THE REATIVE ORIENTATION OF THE TWO COORDINATE FRAMES
	ALPHA=0
	BETA=0
	GAMMA=0
C	TYPE 199
C	ACCEPT  200, ALPHA,BETA,GAMMA
	TYPE 245
	TYPE 250, DX,DY,DZ
	TYPE 255
	TYPE 260,ALPHA, BETA,GAMMA
	R(1)=DX+X1
	R(2)=DY+Y1
	R(3)=DZ+Z1
	ALPHA=(ALPHA+A1)*(2.*PI)/360.
	BETA=(BETA+B1)*(2.*PI)/360.
	GAMMA=(GAMMA+G1)*(2.*PI)/360.
	C1=COS(ALPHA)
	C2=COS(BETA)
	C3=COS(GAMMA)
	S1=SIN(ALPHA)
	S2=SIN(BETA)
	S3=SIN(GAMMA)
	T(1,1)=C3*C2
	T(1,2)=(C3*S2*S1)-(S3*C1)
	T(1,3)=(C3*S2*C1)+(S3*S1)
	T(2,1)=S3*C2
	T(2,2)=(S3*S2*S1)+(C3*C1)
	T(2,3)=(S3*S2*C1)-(C3*S1)
	T(3,1)=-S2
	T(3,2)=C2*S1
	T(3,3)=C2*C1
	DO 60 J=1,6
	DO 50 I=1,3
	L(I,J)=(T(I,1)*A(1,J)+T(I,2)*A(2,J)+T(I,3)*A(3,J))+R(I)-B(I,J)
50	CONTINUE
60	CONTINUE
	DO 70 J=1,6
	S(J)=SQRT(L(1,J)*L(1,J)+L(2,J)*L(2,J)+L(3,J)*L(3,J))
70	CONTINUE
	TYPE 265
	TYPE 270
	DO 80 J=1,6
	TYPE 275, J,S(J)
80	CONTINUE
90	GOTO 1
175	FORMAT (' ENTER THE X,Y,Z DISPLACEMENTS IN CM. ')
180	FORMAT (' ENTER THE ORIENTATIONS IN DEGS.-RX,RY,RZ ')
185	FORMAT (' ENTER THE ATTACHMENT COORDS OF LINKS IN MOVING FRAME')
190	FORMAT (' ENTER THE ATTACHMENT COORDS OF LINKS IN FIXED FRAME')
195	FORMAT (' ENTER THE DISPLACEMENTS OF COORD SYSTEMS IN CM.')
199	FORMAT (' ENTER THE ROTATIONS OF COORD SYSTEMS IN DEGS.')
200	FORMAT (3F6.3)
205	FORMAT (3F5.3)
220	FORMAT (' ','THE COMPONENTS OF INITIAL ANG. POSITION IN DEG. ARE')
230	FORMAT (' ','ALPHA=',1F7.3,2X'BETA=',1F7.3,2X,'GAMMA=',1F7.3)
235	FORMAT ('0','COMPS OF THE INITIAL POS. OF MOV. FRAME ORIGIN ARE')
240	FORMAT (' ','X=',1F6.3,2X,'Y=',1F6.3,2X,'Z=',1F6.3)
245	FORMAT ('0','FOR DISPLACEMENTS FROM THE INITIAL POS. OF;')
250	FORMAT (' ','X=',1F6.3,2X,'Y=',1F6.3,2X,'Z=',1F6.3)
255	FORMAT ('0','AND COMPONENT VECTORS OF;')
260	FORMAT (' ','ALPHA=',1F7.3,2X,'BETA=',1F7.3,2X,'GAMMA=',1F7.3)
265	FORMAT ('0','THE LENGTHS OF THE LINKS WILL BE;')
270	FORMAT ('0',T30,'ELEMENT NUMBER',10X,'LENGTH,CM.')
275	FORMAT (' ',T38,I1,18X,1F6.3)
	STOP
	END