% solves gamma and beta in dependancy of alpha nummerically
function angels = gammabeta(x,l1, l2, l3, l0, varalpha)
angels = zeros(2,1);
angels(1)=cos(varalpha)*l1+cos(x(1))*l2-cos(x(2))*l3-l0; 
angels(2)=sin(varalpha)*l1+sin(x(1))*l2-sin(x(2))*l3;