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We consider a 2 - bar planar mechanism, with two bars of lengths l1 and l2, \
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First, let write the kinematic model F as a function of the kinematic \
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Differentiating F with respect to the actuator angles T1 and T2 leads to \
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Differentiating F with respect to the kinematic parameters \
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Calculate the necessary accuracy of the kinematic parameters \
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We made the assumption that all the distance parameters xA, yA, l1 and l2 \
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Let plot Eq2-Eq1 over the workspace of the manipulator (T1 = T2 = [-90;90] \
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Cell["\<\
Choice of the measurement accuracy and the measurement workspace\
\>", "Section",
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Cell["\<\
Analyzing the above plot, we can see that choosing a measurement accuracy \
DY=3mm and a measurement workspace for T1 and T2 in [-75;0] degres seems to \
satisfy (C3).
Let do a verification:\
\>", "Text",
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\>"]]
}, Open  ]]
}, Closed]],

Cell[CellGroupData[{

Cell["Analyze of T2 == -2*T1 + Pi/2", "Section",
 CellChangeTimes->{{3.567599384048765*^9, 3.567599393544038*^9}, {
  3.5677934781236153`*^9, 3.567793479317051*^9}}],

Cell["\<\
From the above plots, it seems that an interesting region is when T2 == -2*T1 \
+ Pi/2. In this case, DY has to be almost equal to zero to satisfy EqY==0.
Let visualize the concerned configurations of the 2-bar mechanism:\
\>", "Text",
 CellChangeTimes->{{3.567793497006159*^9, 3.567793626048522*^9}}],

Cell[BoxData[
 RowBox[{
  RowBox[{
   RowBox[{"Sol", "[", 
    RowBox[{"T1_", ",", "T2_"}], "]"}], ":=", 
   RowBox[{"{", 
    RowBox[{
     RowBox[{"xA", "+", 
      RowBox[{"l1", "*", 
       RowBox[{"Cos", "[", 
        RowBox[{"T1", "+", "T10"}], "]"}]}], "+", 
      RowBox[{"l2", "*", 
       RowBox[{"Cos", "[", 
        RowBox[{"T1", "+", "T10", "+", "T2", "+", "T20"}], "]"}]}]}], ",", 
     RowBox[{"yA", "+", 
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