function [r1_02_x,r1_02_y,r1_02_z] = r1_02_fce(vr1_02_d,fi_02_d,psi_02_d)

r1_02_x=vr1_02*cos(fi_02)*cos(psi_02);
r1_02_y=vr1_02*cos(fi_02)*sin(psi_02);
r1_02_z=vr1_02*sin(fi_02);

end

