... f 41 (n) f 41 (O) f 41 (a) f 41 (p)-C 34 a2-C 4 a3-a 4 C5C6-C5S6S50 f 42 (n) f 42 (O) f 42 (a) 0 = S5C6-S5S6-C50 f 43 (n) f 43 (O) f 43 (a) f 43 (p)+S 34 a2+S 4 a3 ... S2 34 Oz] - S5(S1 Ox + C1 Oy) C6 = -S2 34 (C1 Ox + S1 Oy) + C2 34 OzVậy : 6 = arctg2(S6 , C6) (4- 45) Các phơng trình (4- 38), (4- 41), (4- 42), (4- 43), (4- 44) ... 0 0 1 C2 34 C5C6 - S2 34 S6-C2 34 C5S6 - S2 34 C6C2 34 S5C2 34 a 4 +C23a3+C2a2S2 34 C5C6 + C2 34 S6-S2 34 C5S6 + C2 34 C6S2 34 S5S2 34 a 4 +S23a3+S2a2-S5C6S5S6C50...