AgentBurn

I need a formula to calculate all three coordinates a third point of a triangle. Here is a sketch of a random triangle just so it makes it easyers for me to explain my problem: TRIANGLE I have x,y and z of points A and B, and lenght all of the sides (a,b and c) The third point, C, must be between A and B in x-z axises (that should reduce the solutions from a circle (actualy the edge of a circle, i dont know the english term) to only 2 points), and I only need the point that is above the line c on y axis. I could calculate that manualy, but i need a formula that works allways becouse i need it for the movement of my robot (it isnt homework, just a project =D) Sorry for grammar mistakes, english isn't my main language, and in school we don't learn the scientifical terms... Thank you for your help if you helped me, and if you didn't becouse you dont know how thank you for reading this, atleast you wanted to help =D

I'm making a hexapod robot and I need some help with the math for the movement of it. Here is a bad sketch (I cant draw in paint and I dont have a scaner): First I'l try to explain the pictures, then my problem. On the first picture in first row is the leg looked from back, in xy axises. The fat line is the body of the robot, at the end of it is point "B", place where leg connects to the robot. Line "c" is the femur, and it is bent by angle "beta" from the robot. That is the angle at which the legs can go up and down relative to body. At angle "alpha", line "c" (femur) connects to line "b" (tibia). That is the angle at which the tibia can go up and down relative to femur. Tibia touches the ground at point "A". Distance from point "A" to point "B" is at the doted line "a". On the second picture in the first row is everything on yz axises. There you can see angle "delta", the angle at which the body is tilted up or down. On the last picture in the first row are the xz axises. There is angle "gamma" (marked as gama becouse I can't spell english good) That is an angle at which legs are moved forward or backward relative to body. In the second row is a picture of one more angle (I didnt know enough greek letters at the time I was drawing the sketch, but I'l call it "zeta" from now on) "zeta" is an angle at which the body is tilted left or right. I hope atleast somebody will understand my sketch and can help me explain it better to others. Now let's get to the problem: I need a forumla(s) that can get me angles "alpha", "beta" and "gamma" if I know angles "delta" and "zeta", 3d coordinates of "A" and "B" and lenghts of lines "b" (tibia) and "c" (femur). Thank you for reading this, and I am realy sorry for my bad english.