{"text_format":"1","workbook":"xlsx","n_sheets":2,"sheets":["Sheet1","Sheet2"],"not_rendered":{"charts":0,"images":10,"macros":1,"external_links":0,"defined_names":0,"comments":0,"pivot_tables":0},"unopened":[],"bounds":{"document_bytes":16777216,"sheet_cells":100000,"rows_first":2000,"rows_last":500,"rows_between":2000,"halvings":0,"cell_chars":16384,"cell_head_chars":4096},"cells_cut":0,"cells_raw":0,"read":"whole","date_system":"1900"}

{"sheet":"Sheet1","index":0,"n_rows":60,"n_cols":32,"rows_kept":60,"cut":false,"hidden":false,"merged":[[2,6,3,9]]}
["FORWARD KINAMATICS",null,null,null,null,null,null,null,null,null,null,null,"INVERSE KINAMATICS"]
[null,"IN",null,null,"OUT",null,null,null,null,null,null,null,null,null,"IN ",null,"OUT"]
[null,"degrees","radians",null,"degrees","radians","* excell uses wrong order for atan2 - note the order is (y,x) instead of the correct formula (x.y)"]
["J1  *  ( -170 / 170 )",0,{"$f":"RADIANS(B4)","v":0},"X",{"$f":"J54","v":68.718711563880916},null,null,null,null,null,null,null,null,"X",{"$f":"E4:E9","v":68.718711563880916},"J1",{"$f":"O52","v":-1.5720947906764714E-14}]
["J2 * ( -42  /  90 )",0,{"$f":"RADIANS((B5)-90)","v":-1.5707963267948966},"Y",{"$f":"J55","v":-1.8681097961433569E-14},null,null,null,null,null,null,null,null,"Y",-1.8681097961433569E-14,"J2",{"$f":"T24","v":-3.613220833642572E-13}]
["J3 * ( -89  / 52 )",-89,{"$f":"RADIANS((B6)+180)","v":1.5882496193148399},"Z",{"$f":"J56","v":733.61056027474535},null,null,null,null,null,null,null,null,"Z",733.61056027474535,"J3",{"$f":"T25","v":-89.000000000001563}]
["J4 * ( -165  / 165 )",0,{"$f":"RADIANS(B7)","v":0},"Rz",{"$f":"DEGREES(F7)","v":6.1324919634723164E-17},{"$f":"ATAN2(G54/COS(F8),G55/COS(F8))","v":1.0703217611468376E-18},null,null,null,null,null,null,null,"Rz",6.1324919634723164E-17,"J4",{"$f":"IF(Q8>0,-DEGREES(ATAN2(Z33,-Z34)),-DEGREES(ATAN2(-Z33,Z34)))","v":1.5735868325488784E-11}]
["J5 * ( -105  / 105 )",1E-3,{"$f":"RADIANS(B8)","v":1.7453292519943296E-5},"Ry",{"$f":"DEGREES(F8)","v":1.0010000000000017},{"$f":"ATAN2((H56^2+I56^2)^0.5,-G56)","v":1.7470745812463266E-2},null,null,null,null,null,null,null,"Ry",1.0010000000000017,"J5",{"$f":"IF(AND(O49=\"F\",DEGREES(ATAN2(Z35,+SQRT(1-(Z35^2))))>0),DEGREES(ATAN2(Z35,+SQRT(1-(Z35^2)))),DEGREES(ATAN2(Z35,-SQRT(1-(Z35^2)))))","v":1.0000000371379761E-3}]
["J6 * ( -155  / 155 )",0,{"$f":"RADIANS((B9))","v":0},"Rx",5.3570966760994478E-19,{"$f":"ATAN2(I56/COS(F8),H56/COS(F8))","v":9.349897534557959E-21},null,null,null,null,null,null,null,"Rx",5.3570966760994478E-19,"J6",{"$f":"IF(Q8>0, DEGREES(ATAN2(-X35,Y35)),DEGREES(ATAN2(X35,-Y35)))","v":-1.5720149713095436E-11}]
[]
["DH params"]
["joint","Θ","α","d","a",null,null,null,null,"TOOL FRAME",null,null,null,"CALC WRIST CENTER - FIND J1 ANGLE",null,null,null,null,"R0-5 @ J1 ZERO",null,null,null,null,"USE J1,J2,J3 ANGLES TO FIND J3 ORENTATION"]
[1,{"$f":"C4","v":0},{"$f":"RADIANS(-90)","v":-1.5707963267948966},169.77,64.2,null,null,null,"X",0,null,null,null,"R 0-T reverse kin ZYX",null,null,null,null,"X","Y",null,null,null,"J1"]
[2,-1.5707963267948966,{"$f":"RADIANS(0)","v":0},0,305,null,null,null,"Y",0,null,null,null,{"$f":"COS(RADIANS(O7))*COS(RADIANS(O8))","v":0.99984739040215098},{"$f":"COS(RADIANS(O7))*SIN(RADIANS(O8))*SIN(RADIANS(O9))-SIN(RADIANS(O7))*COS(RADIANS(O9))","v":-1.0701584197732998E-18},{"$f":"COS(RADIANS(O7))*SIN(RADIANS(O8))*COS(RADIANS(O9))+SIN(RADIANS(O7))*SIN(RADIANS(O9))","v":1.7469857068923456E-2},{"$f":"O4","v":68.718711563880916},null,{"$f":"(Q44*COS(RADIANS(-Q4)))-(Q45*SIN(RADIANS(-Q4)))","v":68.085429245132445},{"$f":"(Q45*COS(RADIANS(-Q4)))+(Q44*SIN(RADIANS(-Q4)))","v":0},null,null,null,{"$f":"COS(RADIANS(Q4))","v":1},{"$f":"-SIN(RADIANS(Q4))*COS(C13)","v":1.6807952698570017E-32},{"$f":"SIN(RADIANS(Q4))*SIN(C13)","v":2.7438230250755479E-16},{"$f":"E13*COS(RADIANS(Q4))","v":64.2}]
[3,1.5882496193148399,{"$f":"RADIANS(90)","v":1.5707963267948966},0,0,null,null,null,"Z",0,null,null,null,{"$f":"SIN(RADIANS(O7))*COS(RADIANS(O8))","v":1.0701584197733E-18},{"$f":"SIN(RADIANS(O7))*SIN(RADIANS(O8))*SIN(RADIANS(O9))+COS(RADIANS(O7))*COS(RADIANS(O9))","v":1},{"$f":"SIN(RADIANS(O7))*SIN(RADIANS(O8))*COS(RADIANS(O9))-COS(RADIANS(O7))*SIN(RADIANS(O9))","v":9.3484706504357238E-21},{"$f":"O5","v":-1.8681097961433569E-14},null,null,null,null,null,null,{"$f":"SIN(RADIANS(Q4))","v":-2.7438230250755479E-16},{"$f":"COS(RADIANS(Q4))*COS(C13)","v":6.1257422745431001E-17},{"$f":"-COS(RADIANS(Q4))*SIN(C13)","v":1},{"$f":"E13*SIN(RADIANS(Q4))","v":-1.761534382098502E-14},null,"R 0-2"]
[4,0,{"$f":"RADIANS(-90)","v":-1.5707963267948966},222.63,0,null,null,null,"yaw (RZ)",0,null,null,null,{"$f":"-SIN(RADIANS(O8))","v":-1.7469857068923456E-2},{"$f":"COS(RADIANS(O8))*SIN(RADIANS(O9))","v":9.348470650455281E-21},{"$f":"COS(RADIANS(O8))*COS(RADIANS(O9))","v":0.99984739040215098},{"$f":"O6","v":733.61056027474535},null,"L1",{"$f":"ABS(S14-E13)","v":3.8854292451324426},null,null,null,0,{"$f":"SIN(C13)","v":-1},{"$f":"COS(C13)","v":6.1257422745431001E-17},{"$f":"D13","v":169.77},null,{"$f":"MMULT(X14:AA17,X20:AA23)","v":-6.1559915151554456E-15},1,2.7438230250755479E-16,64.199999999998127]
[5,1.7453292519943296E-5,{"$f":"RADIANS(90)","v":1.5707963267948966},0,0,null,null,null,"pitch (RY)",0,null,null,null,0,0,0,1,null,"L2",{"$f":"SQRT((S14-E13)^2+(T14-T14)^2+(Q46-D13)^2)","v":527.61039910840191},null,null,null,0,0,0,1,null,-6.1257422745429312E-17,-2.7438230250755518E-16,1,-3.629885775834096E-14]
[6,0,{"$f":"RADIANS(0)","v":0},36.25,0,null,null,null,"roll (RX)",0,null,null,null,null,null,null,null,null,"L3",{"$f":"SQRT(D16^2+E15^2)","v":222.63},null,null,null,null,null,null,null,null,1,6.1559915151554456E-15,6.1257422745431001E-17,474.77]
[null,null,null,null,null,null,null,null,null,null,null,null,null,"TOOL FRAME",null,null,null,null,"L4",{"$f":"Q46-D13","v":527.59609237266739},null,null,null,"J2",null,null,null,null,0,0,0,1]
[null,"J1",null,null,null,null,null,null,null,null,null,null,null,{"$f":"COS(RADIANS(J16))*COS(RADIANS(J17))","v":1},{"$f":"COS(RADIANS(J16))*SIN(RADIANS(J17))*SIN(RADIANS(J18))-SIN(RADIANS(J16))*COS(RADIANS(J18))","v":0},{"$f":"COS(RADIANS(J16))*SIN(RADIANS(J17))*COS(RADIANS(J18))+SIN(RADIANS(J16))*SIN(RADIANS(J18))","v":0},{"$f":"J13","v":0},null,"ΘB",{"$f":"DEGREES(ATAN(T16/T19))","v":0.42194147409594635},null,null,null,{"$f":"COS(RADIANS(Q5-90))","v":-6.1559915151554456E-15},{"$f":"-SIN(RADIANS(Q5-90))*COS(C14)","v":1},{"$f":"SIN(RADIANS(Q5-90))*SIN(C14)","v":0},{"$f":"E14*COS(RADIANS(Q5-90))","v":-1.8775774121224109E-12}]
[null,{"$f":"COS(B13)","v":1},{"$f":"-SIN(B13)*COS(C13)","v":0},{"$f":"SIN(B13)*SIN(C13)","v":0},{"$f":"E13*COS(B13)","v":64.2},null,null,null,null,null,null,null,null,{"$f":"SIN(RADIANS(J16))*COS(RADIANS(J17))","v":0},{"$f":"SIN(RADIANS(J16))*SIN(RADIANS(J17))*SIN(RADIANS(J18))+COS(RADIANS(J16))*COS(RADIANS(J18))","v":1},{"$f":"SIN(RADIANS(J16))*SIN(RADIANS(J17))*COS(RADIANS(J18))-COS(RADIANS(J16))*SIN(RADIANS(J18))","v":0},{"$f":"J14","v":0},null,"ΘC",{"$f":"DEGREES(ACOS((E14^2+T17^2-T18^2)/(2*E14*T17)))","v":0.42194147409630767},null,null,null,{"$f":"SIN(RADIANS(Q5-90))","v":-1},{"$f":"COS(RADIANS(Q5-90))*COS(C14)","v":-6.1559915151554456E-15},{"$f":"-COS(RADIANS(Q5-90))*SIN(C14)","v":0},{"$f":"E14*SIN(RADIANS(Q5-90))","v":-305}]
[null,{"$f":"SIN(B13)","v":0},{"$f":"COS(B13)*COS(C13)","v":6.1257422745431001E-17},{"$f":"-COS(B13)*SIN(C13)","v":1},{"$f":"E13*SIN(B13)","v":0},null,null,null,null,null,null,null,null,{"$f":"-SIN(RADIANS(J17))","v":0},{"$f":"COS(RADIANS(J17))*SIN(RADIANS(J18))","v":0},{"$f":"COS(RADIANS(J17))*COS(RADIANS(J18))","v":1},{"$f":"J15","v":0},null,"ΘD",{"$f":"DEGREES(ACOS((T18^2+E14^2-T17^2)/(2*T18*E14)))","v":179.00000000000156},null,null,null,0,{"$f":"SIN(C14)","v":0},{"$f":"COS(C14)","v":1},{"$f":"D14","v":0},null,"R 0-3"]
[null,0,{"$f":"SIN(C13)","v":-1},{"$f":"COS(C13)","v":6.1257422745431001E-17},{"$f":"D13","v":169.77},null,"R 0-2",null,null,null,null,null,null,0,0,0,1,null,"ΘE",{"$f":"DEGREES(ATAN(E15/D16))","v":0},null,null,null,0,0,0,1,null,{"$f":"MMULT(AC16:AF19,X26:AA29)","v":0.99984769515639182},2.7331321306850307E-16,1.7452406437250014E-2,64.199999999998127]
[null,0,0,0,1,null,{"$f":"MMULT(B21:E24,B27:E30)","v":6.1257422745431001E-17},1,0,64.200000000000017,null,null,null,null,null,null,null,null,"J2 ∠",{"$f":"IF(S14>E13,  IF(T19>0,     T20-T21,     T20-T21+180),  -(T20+T21))","v":-3.613220833642572E-13},null,null,null,null,null,null,null,null,-2.7327142331483084E-16,1,-4.7793016603592462E-18,-3.629885775834096E-14]
[null,null,null,null,null,null,-6.1257422745431001E-17,3.7524718414124473E-33,1,-1.8683513937356455E-14,null,null,null,"INVERT TOOL FRAME",null,null,null,null,"J3 ∠",{"$f":"-(T22+T23)+90","v":-89.000000000001563},null,null,null,"J3",null,null,null,null,-1.7452406437250014E-2,9.3298021910784524E-21,0.99984769515639182,474.77]
[null,"J2",null,null,null,null,1,-6.1257422745431001E-17,6.1257422745431001E-17,474.77,null,null,null,{"$f":"N20","v":1},{"$f":"N21","v":0},{"$f":"N22","v":0},{"$f":"(N26*Q$20)+(O26*Q$21)+(P26*Q$22)","v":0},null,null,null,null,null,null,{"$f":"COS(RADIANS(Q6+180))","v":-1.7452406437256169E-2},{"$f":"-SIN(RADIANS(Q6+180))*COS(C15)","v":-6.124809294323991E-17},{"$f":"SIN(RADIANS(Q6+180))*SIN(C15)","v":0.99984769515639171},{"$f":"E15*COS(RADIANS(Q6+180))","v":0},null,0,0,0,1]
[null,{"$f":"COS(B14)","v":6.1257422745431001E-17},{"$f":"-SIN(B14)*COS(C14)","v":1},{"$f":"SIN(B14)*SIN(C14)","v":0},{"$f":"E14*COS(B14)","v":1.8683513937356455E-14},null,0,0,0,1,null,null,null,{"$f":"O20","v":0},{"$f":"O21","v":1},{"$f":"O22","v":0},{"$f":"(N27*Q$20)+(O27*Q$21)+(P27*Q$22)","v":0},null,null,null,null,null,null,{"$f":"SIN(RADIANS(Q6+180))","v":0.99984769515639171},{"$f":"COS(RADIANS(Q6+180))*COS(C15)","v":-1.0690894390520825E-18},{"$f":"-COS(RADIANS(Q6+180))*SIN(C15)","v":1.7452406437256169E-2},{"$f":"E15*SIN(RADIANS(Q6+180))","v":0}]
[null,{"$f":"SIN(B14)","v":-1},{"$f":"COS(B14)*COS(C14)","v":6.1257422745431001E-17},{"$f":"-COS(B14)*SIN(C14)","v":0},{"$f":"E14*SIN(B14)","v":-305},null,null,null,null,null,null,null,null,{"$f":"P20","v":0},{"$f":"P21","v":0},{"$f":"P22","v":1},{"$f":"(N28*Q$20)+(O28*Q$21)+(P28*Q$22)","v":0},null,null,null,null,null,null,0,{"$f":"SIN(C15)","v":1},{"$f":"COS(C15)","v":6.1257422745431001E-17},{"$f":"D15","v":0},null,"R 0-3 transposed"]
[null,0,{"$f":"SIN(C14)","v":0},{"$f":"COS(C14)","v":1},{"$f":"D14","v":0},null,"R 0-3",null,null,null,null,null,null,0,0,0,1,null,null,null,null,null,null,0,0,0,1,null,{"$f":"AC23","v":0.99984769515639182},{"$f":"AC24","v":-2.7327142331483084E-16},{"$f":"AC25","v":-1.7452406437250014E-2}]
[null,0,0,0,1,null,{"$f":"MMULT(G24:J27,B33:E36)","v":0.99984769515639127},-1.069089439053759E-18,1.7452406437283539E-2,64.200000000000017,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"AD23","v":2.7331321306850307E-16},{"$f":"AD24","v":1},{"$f":"AD25","v":9.3298021910784524E-21}]
[null,null,null,null,null,null,1.069089439053759E-18,1,9.3298021911154303E-21,-1.8683513937356455E-14,null,null,null,"R 0-6 reverse kin",null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"AE23","v":1.7452406437250014E-2},{"$f":"AE24","v":-4.7793016603592462E-18},{"$f":"AE25","v":0.99984769515639182}]
[null,"J3",null,null,null,null,-1.7452406437283539E-2,9.3298021911154303E-21,0.99984769515639127,474.77,null,null,null,{"$f":"MMULT(N14:Q17,N26:Q29)","v":0.99984739040215098},-1.0701584197732998E-18,1.7469857068923456E-2,68.718711563880916,null,null,null,null,null,null,"R 3-6 (spherical wrist  orietation)"]
[null,{"$f":"COS(B15)","v":-1.7452406437283477E-2},{"$f":"-SIN(B15)*COS(C15)","v":-6.1248092943239885E-17},{"$f":"SIN(B15)*SIN(C15)","v":0.99984769515639127},{"$f":"E15*COS(B15)","v":0},null,0,0,0,1,null,null,null,1.0701584197733E-18,1,9.3484706504357238E-21,-1.8681097961433569E-14,null,null,null,null,null,null,{"$f":"MMULT(AC29:AE31,N32:P34)","v":0.99999999984769128},-2.7434158189760274E-16,1.745329255258693E-5]
[null,{"$f":"SIN(B15)","v":0.99984769515639127},{"$f":"COS(B15)*COS(C15)","v":-1.0690894390537554E-18},{"$f":"-COS(B15)*SIN(C15)","v":1.7452406437283477E-2},{"$f":"E15*SIN(B15)","v":0},null,null,null,null,null,null,null,null,-1.7469857068923456E-2,9.348470650455281E-21,0.99984739040215098,733.61056027474535,null,null,null,null,null,null,2.7434149827843242E-16,1,4.7934196163791247E-18]
[null,0,{"$f":"SIN(C15)","v":1},{"$f":"COS(C15)","v":6.1257422745431001E-17},{"$f":"D15","v":0},null,"R 0-4",null,null,null,null,null,null,0,0,0,1,null,null,null,null,null,null,-1.745329255258693E-5,-4.7886314532202803E-18,0.99999999984769128]
[null,0,0,0,1,null,{"$f":"MMULT(G30:J33,B39:E42)","v":0.99984769515639127},-1.7452406437283539E-2,0,68.085429245132445]
[null,null,null,null,null,null,1.069089439053759E-18,6.1248092943239885E-17,1,-1.8681436843494647E-14,null,null,null,"R 0-6 negate"]
[null,"J4",null,null,null,null,-1.7452406437283539E-2,-0.99984769515639127,6.1257422745431001E-17,697.36609237266737,null,null,null,1,0,0,0]
[null,{"$f":"COS(B16)","v":1},{"$f":"-SIN(B16)*COS(C16)","v":0},{"$f":"SIN(B16)*SIN(C16)","v":0},{"$f":"E16*COS(B16)","v":0},null,0,0,0,1,null,null,null,0,1,0,0]
[null,{"$f":"SIN(B16)","v":0},{"$f":"COS(B16)*COS(C16)","v":6.1257422745431001E-17},{"$f":"-COS(B16)*SIN(C16)","v":1},{"$f":"E16*SIN(B16)","v":0},null,null,null,null,null,null,null,null,0,0,1,{"$f":"-D18","v":-36.25}]
[null,0,{"$f":"SIN(C16)","v":-1},{"$f":"COS(C16)","v":6.1257422745431001E-17},{"$f":"D16","v":222.63},null,"R 0-5    (center spherica wrist)",null,null,null,null,null,null,0,0,0,1]
[null,0,0,0,1,null,{"$f":"MMULT(G36:J39,B45:E48)","v":0.99984739040215109},-1.0701584197733002E-18,1.7469857068923456E-2,68.085429245132445]
[null,null,null,null,null,null,1.0701584197733002E-18,1,9.3484706504429566E-21,-1.8681436843494647E-14,null,null,null,"R 0-5 reverse kin    (center spherica wrist)"]
[null,"J5",null,null,null,null,-1.7469857068923456E-2,9.3484706504552825E-21,0.99984739040215109,697.36609237266737,null,null,null,{"$f":"MMULT(N32:Q35,N38:Q41)","v":0.99984739040215098},-1.0701584197732998E-18,1.7469857068923456E-2,68.085429245132445]
[null,{"$f":"COS(B17)","v":0.99999999984769128},{"$f":"-SIN(B17)*COS(C17)","v":-1.0691437181395554E-21},{"$f":"SIN(B17)*SIN(C17)","v":1.7453292519057202E-5},{"$f":"E17*COS(B17)","v":0},null,0,0,0,1,null,null,null,1.0701584197733E-18,1,9.3484706504357238E-21,-1.8681436843494647E-14]
[null,{"$f":"SIN(B17)","v":1.7453292519057202E-5},{"$f":"COS(B17)*COS(C17)","v":6.1257422736100958E-17},{"$f":"-COS(B17)*SIN(C17)","v":-0.99999999984769128},{"$f":"E17*SIN(B17)","v":0},null,null,null,null,null,null,null,null,-1.7469857068923456E-2,9.348470650455281E-21,0.99984739040215098,697.36609237266737]
[null,0,{"$f":"SIN(C17)","v":1},{"$f":"COS(C17)","v":6.1257422745431001E-17},{"$f":"D17","v":0},null,"R 0-6",null,null,null,null,null,null,0,0,0,1]
[null,0,0,0,1,null,{"$f":"MMULT(G42:J45,B51:E54)","v":0.99984739040215109},-1.0701584197733002E-18,1.7469857068923456E-2,68.718711563880916]
[null,null,null,null,null,null,1.0701584197733002E-18,1,9.3484706504429566E-21,-1.8681097961433569E-14,null,null,null,"WRIST CONF.",{"$f":"IF(B8>0,\"F\",\"N\")","v":"F"}]
[null,"J6",null,null,null,null,-1.7469857068923456E-2,9.3484706504552825E-21,0.99984739040215109,733.61056027474535]
[null,{"$f":"COS(B18)","v":1},{"$f":"-SIN(B18)*COS(C18)","v":0},{"$f":"SIN(B18)*SIN(C18)","v":0},{"$f":"E18*COS(B18)","v":0},null,0,0,0,1,null,null,null,"CALCULATE J1 ANGLE"]
[null,{"$f":"SIN(B18)","v":0},{"$f":"COS(B18)*COS(C18)","v":1},{"$f":"-COS(B18)*SIN(C18)","v":0},{"$f":"E18*SIN(B18)","v":0},null,null,null,null,null,null,null,null,"J1 ∠",{"$f":"IF(Q44=0,RADIANS(-90),        IF(AND(Q44>=0,Q45>0),DEGREES(ATAN((Q45)/(Q44))),        IF(AND(Q44>=0,Q45<0),DEGREES(ATAN((Q45)/(Q44))),      IF(AND(Q44<0,Q45<=0),-180+DEGREES(ATAN((Q45)/(Q44))),    IF(AND(Q44<=0,Q45>0),180+DEGREES(ATAN((Q45)/(Q44))),)))))","v":-1.5720947906764714E-14}]
[null,0,{"$f":"SIN(C18)","v":0},{"$f":"COS(C18)","v":1},{"$f":"D18","v":36.25},null,"R 0-T"]
[null,0,0,0,1,null,{"$f":"MMULT(G48:J51,B57:E60)","v":0.99984739040215109},-1.0701584197733002E-18,1.7469857068923456E-2,68.718711563880916]
[null,null,null,null,null,null,1.0701584197733002E-18,1,9.3484706504429566E-21,-1.8681097961433569E-14]
[null,"TOOL FRAME",null,null,null,null,-1.7469857068923456E-2,9.3484706504552825E-21,0.99984739040215109,733.61056027474535]
[null,{"$f":"COS(RADIANS(J16))*COS(RADIANS(J17))","v":1},{"$f":"COS(RADIANS(J16))*SIN(RADIANS(J17))*SIN(RADIANS(J18))-SIN(RADIANS(J16))*COS(RADIANS(J18))","v":0},{"$f":"COS(RADIANS(J16))*SIN(RADIANS(J17))*COS(RADIANS(J18))+SIN(RADIANS(J16))*SIN(RADIANS(J18))","v":0},{"$f":"J13","v":0},null,0,0,0,1]
[null,{"$f":"SIN(RADIANS(J16))*COS(RADIANS(J17))","v":0},{"$f":"SIN(RADIANS(J16))*SIN(RADIANS(J17))*SIN(RADIANS(J18))+COS(RADIANS(J16))*COS(RADIANS(J18))","v":1},{"$f":"SIN(RADIANS(J16))*SIN(RADIANS(J17))*COS(RADIANS(J18))-COS(RADIANS(J16))*SIN(RADIANS(J18))","v":0},{"$f":"J14","v":0}]
[null,{"$f":"-SIN(RADIANS(J17))","v":0},{"$f":"COS(RADIANS(J17))*SIN(RADIANS(J18))","v":0},{"$f":"COS(RADIANS(J17))*COS(RADIANS(J18))","v":1},{"$f":"J15","v":0}]
[null,0,0,0,1]

{"sheet":"Sheet2","index":1,"n_rows":0,"n_cols":0,"rows_kept":0,"cut":false,"hidden":false,"merged":[]}