MATLAB Command Window

MATLAB Command Window Page 1
le nombre d'elements n= 7
Elemnt 1:
a_1: 0
alpha_1: -90
d_1: 0.34
Elemnt 2:
a_2: 0
alpha_2: 90
d_2: 0
Elemnt 3:
a_3: 0
alpha_3: 90
d_3: 0.4
Elemnt 4:
a_4: 0
alpha_4: -90
d_4: 0
Elemnt 5:
a_5: 0
alpha_5: -90
d_5: 0.4
Elemnt 6:
a_6: 0
alpha_6: 90
d_6: 0
Elemnt 7:
a_7: 0
alpha_7: 0
d_7: 0.126
la matrice de transformation de 1 a 7 par inverse:
Ta =
[ cos(t2)*cos(t3)*sin(t4)*sin(t6) - cos(t4)*sin(t2)*sin(t6) - cos(t2)*cos(t6)*sin(t3)

*sin(t5) + cos(t5)*cos(t6)*sin(t2)*sin(t4) + cos(t2)*cos(t3)*cos(t4)*cos(t5)*cos(t6), -
sin(t2)*sin(t4)*sin(t5) - cos(t2)*cos(t5)*sin(t3) - cos(t2)*cos(t3)*cos(t4)*sin(t5),
cos(t4)*cos(t6)*sin(t2) - cos(t2)*cos(t3)*cos(t6)*sin(t4) - cos(t2)*sin(t3)*sin(t5)*sin
(t6) + cos(t5)*sin(t2)*sin(t4)*sin(t6) + cos(t2)*cos(t3)*cos(t4)*cos(t5)*sin(t6),
(Px*cos(t1) + Py*sin(t1))/(cos(t1)^2 + sin(t1)^2)]
[ cos(t2)*cos(t4)*sin(t6) - cos(t2)*cos(t5)*cos(t6)*sin(t4) + cos(t3)*sin(t2)*sin(t4)
*sin(t6) - cos(t6)*sin(t2)*sin(t3)*sin(t5) + cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t2),
cos(t2)*sin(t4)*sin(t5) - cos(t5)*sin(t2)*sin(t3) - cos(t3)*cos(t4)*sin(t2)*sin(t5),
cos(t3)*cos(t4)*cos(t5)*sin(t2)*sin(t6) - cos(t3)*cos(t6)*sin(t2)*sin(t4) - cos(t2)*cos

(t5)*sin(t4)*sin(t6) - sin(t2)*sin(t3)*sin(t5)*sin(t6) - cos(t2)*cos(t4)*cos(t6),
17/50 - Pz]
[
sin(t3)*sin(t4)*sin(t6) + cos(t3)*cos(t6)*sin(t5) + cos(t4)*cos(t5)*cos(t6)*sin(t3),
cos(t3)*cos(t5) - cos(t4)*sin(t3)*sin(t5),
cos(t3)*sin(t5)*sin(t6) - cos(t6)*sin(t3)*sin(t4) + cos(t4)*cos(t5)*sin(t3)*sin(t6),
(Py*cos(t1) - Px*sin(t1))/(cos(t1)^2 + sin(t1)^2)]
[
0,
0,
0, 1]
la matrice de transformation de 1 a 7 par multiplication:
Tb =
[ cos(t6)*(cos(t5)*(sin(t2)*sin(t4) + cos(t2)*cos(t3)*cos(t4)) - cos(t2)*sin(t3)*sin

(t5)) - sin(t6)*(cos(t4)*sin(t2) - cos(t2)*cos(t3)*sin(t4)), - sin(t5)*(sin(t2)*sin(t4)
+ cos(t2)*cos(t3)*cos(t4)) - cos(t2)*cos(t5)*sin(t3), sin(t6)*(cos(t5)*(sin(t2)*sin
(t4) + cos(t2)*cos(t3)*cos(t4)) - cos(t2)*sin(t3)*sin(t5)) + cos(t6)*(cos(t4)*sin(t2) -
cos(t2)*cos(t3)*sin(t4)), (2*sin(t2))/5 + (2*cos(t4)*sin(t2))/5 + (63*sin(t6)*(cos
(t5)*(sin(t2)*sin(t4) + cos(t2)*cos(t3)*cos(t4)) - cos(t2)*sin(t3)*sin(t5)))/500 +
(63*cos(t6)*(cos(t4)*sin(t2) - cos(t2)*cos(t3)*sin(t4)))/500 - (2*cos(t2)*cos(t3)*sin
(t4))/5]
[ sin(t6)*(cos(t2)*cos(t4) + cos(t3)*sin(t2)*sin(t4)) - cos(t6)*(cos(t5)*(cos(t2)*sin
(t4) - cos(t3)*cos(t4)*sin(t2)) + sin(t2)*sin(t3)*sin(t5)), sin(t5)*(cos(t2)*sin(t4)
- cos(t3)*cos(t4)*sin(t2)) - cos(t5)*sin(t2)*sin(t3), - sin(t6)*(cos(t5)*(cos(t2)*sin
(t4) - cos(t3)*cos(t4)*sin(t2)) + sin(t2)*sin(t3)*sin(t5)) - cos(t6)*(cos(t2)*cos(t4) +
cos(t3)*sin(t2)*sin(t4)), - (2*cos(t2))/5 - (2*cos(t2)*cos(t4))/5 - (63*sin(t6)*(cos
(t5)*(cos(t2)*sin(t4) - cos(t3)*cos(t4)*sin(t2)) + sin(t2)*sin(t3)*sin(t5)))/500 -
(63*cos(t6)*(cos(t2)*cos(t4) + cos(t3)*sin(t2)*sin(t4)))/500 - (2*cos(t3)*sin(t2)*sin
(t4))/5]
[ cos(t6)*(cos(t3)*sin
(t5) + cos(t4)*cos(t5)*sin(t3)) + sin(t3)*sin(t4)*sin(t6),
cos(t3)*cos(t5) - cos(t4)*sin(t3)*sin(t5),
sin(t6)*(cos(t3)*sin(t5) + cos(t4)*cos(t5)*sin(t3)) - cos(t6)*sin(t3)*sin(t4),
(63*sin(t6)*(cos(t3)*sin(t5) + cos(t4)*cos(t5)*sin(t3)))/500 - (2*sin(t3)*sin(t4))/5 -
(63*cos(t6)*sin(t3)*sin(t4))/500]
[
0, 0,
0,
1]
Ta =
[ cos(t3)*sin(t4)*sin(t6) - cos(t6)*sin(t3)*sin(t5) + cos(t3)*cos(t4)*cos(t5)*cos(t6),

- cos(t5)*sin(t3) - cos(t3)*cos(t4)*sin(t5), cos(t3)*cos(t4)*cos(t5)*sin(t6) - cos(t3)
*cos(t6)*sin(t4) - sin(t3)*sin(t5)*sin(t6), (17*cos(t1)^2*sin(t2) + 17*sin(t1)^2*sin
(t2) + 50*Px*cos(t1)*cos(t2) + 50*Py*cos(t2)*sin(t1) - 50*Pz*cos(t1)^2*sin(t2) -
50*Pz*sin(t1)^2*sin(t2))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2))]
[ sin(t3)*sin(t4)*sin(t6) + cos(t3)*cos(t6)*sin(t5) + cos(t4)*cos(t5)*cos(t6)*sin(t3),
cos(t3)*cos(t5) - cos(t4)*sin(t3)*sin(t5), cos(t3)*sin(t5)*sin(t6) - cos(t6)*sin(t3)
*sin(t4) + cos(t4)*cos(t5)*sin(t3)*sin(t6),
(Py*cos(t1) - Px*sin(t1))/(cos(t1)^2 + sin(t1)^2)]
[ cos(t5)*cos(t6)*sin(t4) - cos(t4)*sin(t6),
-sin(t4)*sin(t5), cos(t4)*cos(t6) + cos(t5)
*sin(t4)*sin(t6), (50*Px*cos(t1)*sin(t2) - 17*cos(t2)*sin(t1)^2 - 17*cos(t1)^2*cos(t2)
+ 50*Py*sin(t1)*sin(t2) + 50*Pz*cos(t1)^2*cos(t2) + 50*Pz*cos(t2)*sin(t1)^2)/(50*(cos
(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2))]
[ 0,
0, 0,
1]
Tb =
[ cos(t3)*sin(t4)*sin(t6) - cos(t6)*(sin(t3)*sin(t5) - cos(t3)*cos(t4)*cos(t5)), - cos

(t5)*sin(t3) - cos(t3)*cos(t4)*sin(t5), - sin(t6)*(sin(t3)*sin(t5) - cos(t3)*cos(t4)
*cos(t5)) - cos(t3)*cos(t6)*sin(t4), - (2*cos(t3)*sin(t4))/5 - (63*sin(t6)*(sin(t3)*sin
(t5) - cos(t3)*cos(t4)*cos(t5)))/500 - (63*cos(t3)*cos(t6)*sin(t4))/500]
[ cos(t6)*(cos(t3)*sin(t5) + cos(t4)*cos(t5)*sin(t3)) + sin(t3)*sin(t4)*sin(t6), cos
(t3)*cos(t5) - cos(t4)*sin(t3)*sin(t5), sin(t6)*(cos(t3)*sin(t5) + cos(t4)*cos(t5)
*sin(t3)) - cos(t6)*sin(t3)*sin(t4), (63*sin(t6)*(cos(t3)*sin(t5) + cos(t4)*cos(t5)
*sin(t3)))/500 - (2*sin(t3)*sin(t4))/5 - (63*cos(t6)*sin(t3)*sin(t4))/500]
[ cos(t5)*cos(t6)*sin(t4) - cos(t4)*sin(t6),
-sin(t4)*sin(t5), cos(t4)*cos(t6) + cos(t5)*sin
(t4)*sin(t6), (2*cos(t4))/5 + (63*cos(t4)*cos
(t6))/500 + (63*cos(t5)*sin(t4)*sin(t6))/500 + 2/5]
[ 0,
0, 0,
1]
Ta =
[ sin(t4)*sin(t6) + cos(t4)*cos(t5)*cos(t6), -cos(t4)*sin(t5), cos(t4)*cos(t5)*sin(t6)

- cos(t6)*sin(t4), (17*cos(t1)^2*cos(t3)*sin(t2) + 17*cos(t3)*sin(t1)^2*sin(t2) +
50*Px*cos(t1)*cos(t2)*cos(t3) + 50*Py*cos(t2)*cos(t3)*sin(t1) + 50*Py*cos(t1)*cos(t2)
^2*sin(t3) - 50*Pz*cos(t1)^2*cos(t3)*sin(t2) - 50*Px*cos(t2)^2*sin(t1)*sin(t3) +
50*Py*cos(t1)*sin(t2)^2*sin(t3) - 50*Pz*cos(t3)*sin(t1)^2*sin(t2) - 50*Px*sin(t1)*sin
(t2)^2*sin(t3))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin
(t3)^2))]
[ cos(t5)*cos(t6)*sin(t4) - cos(t4)*sin(t6), -sin(t4)*sin(t5), cos(t4)*cos(t6) + cos
(t5)*sin(t4)*sin(t6),
-(17*cos(t1)^2*cos(t2) + 17*cos(t2)*sin(t1)^2 + 20*cos(t1)^2*cos(t2)^2 + 20*cos(t1)
^2*sin(t2)^2 + 20*cos(t2)^2*sin(t1)^2 + 20*sin(t1)^2*sin(t2)^2 - 50*Px*cos(t1)*sin(t2)
- 50*Py*sin(t1)*sin(t2) - 50*Pz*cos(t1)^2*cos(t2) - 50*Pz*cos(t2)*sin(t1)^2)/(50*(cos
(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2))]
[ -cos(t6)*sin(t5), -cos(t5),
-sin(t5)*sin(t6), (17*cos(t1)^2*sin(t2)*sin(t3) + 17*sin(t1)^2*sin(t2)*sin(t3) +
50*Px*cos(t1)*cos(t2)*sin(t3) + 50*Py*cos(t2)*sin(t1)*sin(t3) - 50*Py*cos(t1)*cos(t2)
^2*cos(t3) + 50*Px*cos(t2)^2*cos(t3)*sin(t1) - 50*Py*cos(t1)*cos(t3)*sin(t2)^2 +
50*Px*cos(t3)*sin(t1)*sin(t2)^2 - 50*Pz*cos(t1)^2*sin(t2)*sin(t3) - 50*Pz*sin(t1)^2*sin
(t2)*sin(t3))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)
^2))]
[ 0, 0,
0,
1]
Tb =
[ sin(t4)*sin(t6) + cos(t4)*cos(t5)*cos(t6), -cos(t4)*sin(t5), cos(t4)*cos(t5)*sin(t6)

- cos(t6)*sin(t4), (63*cos(t4)*cos(t5)*sin(t6))/500 - (63*cos(t6)*sin(t4))/500 - (2*sin
(t4))/5]
[ cos(t5)*cos(t6)*sin(t4) - cos(t4)*sin(t6), -sin(t4)*sin(t5), cos(t4)*cos(t6) + cos
(t5)*sin(t4)*sin(t6), (2*cos(t4))/5 + (63*cos(t4)*cos(t6))/500 + (63*cos(t5)*sin(t4)
*sin(t6))/500]
[ -cos(t6)*sin(t5), -cos(t5),
-sin(t5)*sin(t6), -(63*sin(t5)*sin
(t6))/500]
[ 0, 0,
0, 1]
Ta =
[ cos(t5)*cos(t6), -sin(t5), cos(t5)*sin(t6), -(20*cos(t1)^2*sin(t2)^2*sin(t3)^2*sin

(t4) + 20*cos(t2)^2*sin(t1)^2*sin(t3)^2*sin(t4) + 20*cos(t3)^2*sin(t1)^2*sin(t2)^2*sin
(t4) + 20*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4) - 17*cos(t1)^2*cos(t3)*cos(t4)*sin(t2)
- 17*cos(t3)*cos(t4)*sin(t1)^2*sin(t2) + 17*cos(t1)^2*cos(t2)*cos(t3)^2*sin(t4) +
17*cos(t2)*cos(t3)^2*sin(t1)^2*sin(t4) + 17*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4) +
17*cos(t2)*sin(t1)^2*sin(t3)^2*sin(t4) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*sin(t4) +
20*cos(t1)^2*cos(t2)^2*sin(t3)^2*sin(t4) + 20*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4) +
20*cos(t2)^2*cos(t3)^2*sin(t1)^2*sin(t4) - 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4) -
50*Py*cos(t2)*cos(t3)*cos(t4)*sin(t1) - 50*Py*cos(t1)*cos(t2)^2*cos(t4)*sin(t3) +
50*Pz*cos(t1)^2*cos(t3)*cos(t4)*sin(t2) - 50*Px*cos(t1)*cos(t3)^2*sin(t2)*sin(t4) +
50*Px*cos(t2)^2*cos(t4)*sin(t1)*sin(t3) - 50*Py*cos(t1)*cos(t4)*sin(t2)^2*sin(t3) +
50*Pz*cos(t3)*cos(t4)*sin(t1)^2*sin(t2) - 50*Px*cos(t1)*sin(t2)*sin(t3)^2*sin(t4) +
50*Px*cos(t4)*sin(t1)*sin(t2)^2*sin(t3) - 50*Py*cos(t3)^2*sin(t1)*sin(t2)*sin(t4) -
50*Py*sin(t1)*sin(t2)*sin(t3)^2*sin(t4) - 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*sin(t4) -
50*Pz*cos(t2)*cos(t3)^2*sin(t1)^2*sin(t4) - 50*Pz*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4) -
50*Pz*cos(t2)*sin(t1)^2*sin(t3)^2*sin(t4))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin
(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2))]
[ cos(t6)*sin(t5), cos(t5), sin(t5)*sin(t6),
-(17*cos(t1)^2*sin(t2)*sin(t3) + 17*sin(t1)^2*sin(t2)*sin(t3) + 50*Px*cos(t1)*cos(t2)
*sin(t3) + 50*Py*cos(t2)*sin(t1)*sin(t3) - 50*Py*cos(t1)*cos(t2)^2*cos(t3) + 50*Px*cos
(t2)^2*cos(t3)*sin(t1) - 50*Py*cos(t1)*cos(t3)*sin(t2)^2 + 50*Px*cos(t3)*sin(t1)*sin
(t2)^2 - 50*Pz*cos(t1)^2*sin(t2)*sin(t3) - 50*Pz*sin(t1)^2*sin(t2)*sin(t3))/(50*(cos
(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)^2))]
[ -sin(t6), 0, cos(t6), -(20*cos(t4)*sin(t1)^2*sin(t2)^2*sin(t3)
^2 + 17*cos(t1)^2*cos(t3)*sin(t2)*sin(t4) + 17*cos(t3)*sin(t1)^2*sin(t2)*sin(t4) +
17*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4) + 17*cos(t2)*cos(t3)^2*cos(t4)*sin(t1)^2 +
17*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2 + 17*cos(t2)*cos(t4)*sin(t1)^2*sin(t3)^2 +
20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4) + 20*cos(t1)^2*cos(t2)^2*cos(t4)*sin(t3)^2 +
20*cos(t1)^2*cos(t3)^2*cos(t4)*sin(t2)^2 + 20*cos(t2)^2*cos(t3)^2*cos(t4)*sin(t1)^2 +
20*cos(t1)^2*cos(t4)*sin(t2)^2*sin(t3)^2 + 20*cos(t2)^2*cos(t4)*sin(t1)^2*sin(t3)^2 +
20*cos(t3)^2*cos(t4)*sin(t1)^2*sin(t2)^2 + 50*Px*cos(t1)*cos(t2)*cos(t3)*sin(t4) +
50*Py*cos(t2)*cos(t3)*sin(t1)*sin(t4) - 50*Px*cos(t1)*cos(t3)^2*cos(t4)*sin(t2) -
50*Px*cos(t1)*cos(t4)*sin(t2)*sin(t3)^2 + 50*Py*cos(t1)*cos(t2)^2*sin(t3)*sin(t4) -
50*Py*cos(t3)^2*cos(t4)*sin(t1)*sin(t2) - 50*Pz*cos(t1)^2*cos(t3)*sin(t2)*sin(t4) -
50*Px*cos(t2)^2*sin(t1)*sin(t3)*sin(t4) + 50*Py*cos(t1)*sin(t2)^2*sin(t3)*sin(t4) -
50*Py*cos(t4)*sin(t1)*sin(t2)*sin(t3)^2 - 50*Pz*cos(t3)*sin(t1)^2*sin(t2)*sin(t4) -
50*Px*sin(t1)*sin(t2)^2*sin(t3)*sin(t4) - 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4) -
50*Pz*cos(t2)*cos(t3)^2*cos(t4)*sin(t1)^2 - 50*Pz*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2 -
50*Pz*cos(t2)*cos(t4)*sin(t1)^2*sin(t3)^2)/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin
(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2))]
[ 0, 0, 0,
1]
Tb =
[ cos(t5)*cos(t6), -sin(t5), cos(t5)*sin(t6), (63*cos(t5)*sin(t6))/500]

[ cos(t6)*sin(t5), cos(t5), sin(t5)*sin(t6), (63*sin(t5)*sin(t6))/500]
[ -sin(t6), 0, cos(t6), (63*cos(t6))/500 + 2/5]
[ 0, 0, 0, 1]
Ta =
[ cos(t6), 0, sin(t6), -(17*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t5)*sin(t4) - 17*cos(t3)

*cos(t4)*cos(t5)*sin(t1)^2*sin(t2) - 17*cos(t1)^2*cos(t3)*cos(t4)*cos(t5)*sin(t2) +
17*cos(t2)*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4) + 17*cos(t1)^2*cos(t2)*cos(t5)*sin(t3)
^2*sin(t4) + 17*cos(t2)*cos(t5)*sin(t1)^2*sin(t3)^2*sin(t4) + 17*cos(t1)^2*cos(t4)
^2*sin(t2)*sin(t3)*sin(t5) + 17*cos(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) + 17*cos
(t4)^2*sin(t1)^2*sin(t2)*sin(t3)*sin(t5) + 17*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin
(t5) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t5)*sin(t4) + 20*cos(t1)^2*cos(t2)^2*cos
(t5)*sin(t3)^2*sin(t4) + 20*cos(t1)^2*cos(t3)^2*cos(t5)*sin(t2)^2*sin(t4) + 20*cos(t2)
^2*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4) + 20*cos(t1)^2*cos(t5)*sin(t2)^2*sin(t3)^2*sin
(t4) + 20*cos(t2)^2*cos(t5)*sin(t1)^2*sin(t3)^2*sin(t4) + 20*cos(t3)^2*cos(t5)*sin(t1)
^2*sin(t2)^2*sin(t4) + 20*cos(t5)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4) - 50*Py*cos(t1)
*cos(t2)^2*cos(t4)*cos(t5)*sin(t3) + 50*Pz*cos(t1)^2*cos(t3)*cos(t4)*cos(t5)*sin(t2) +
50*Px*cos(t1)*cos(t2)*cos(t4)^2*sin(t3)*sin(t5) - 50*Px*cos(t1)*cos(t3)^2*cos(t5)*sin
(t2)*sin(t4) + 50*Px*cos(t2)^2*cos(t4)*cos(t5)*sin(t1)*sin(t3) - 50*Py*cos(t1)*cos(t4)
*cos(t5)*sin(t2)^2*sin(t3) + 50*Pz*cos(t3)*cos(t4)*cos(t5)*sin(t1)^2*sin(t2) +
50*Px*cos(t1)*cos(t2)*sin(t3)*sin(t4)^2*sin(t5) - 50*Px*cos(t1)*cos(t5)*sin(t2)*sin(t3)
^2*sin(t4) + 50*Px*cos(t4)*cos(t5)*sin(t1)*sin(t2)^2*sin(t3) + 50*Py*cos(t2)*cos(t4)
^2*sin(t1)*sin(t3)*sin(t5) - 50*Py*cos(t3)^2*cos(t5)*sin(t1)*sin(t2)*sin(t4) +
50*Py*cos(t2)*sin(t1)*sin(t3)*sin(t4)^2*sin(t5) - 50*Py*cos(t5)*sin(t1)*sin(t2)*sin(t3)
^2*sin(t4) - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t4)^2*sin(t5) - 50*Pz*cos(t1)^2*cos
(t2)*cos(t3)^2*cos(t5)*sin(t4) + 50*Px*cos(t2)^2*cos(t3)*cos(t4)^2*sin(t1)*sin(t5) -
50*Py*cos(t1)*cos(t3)*cos(t4)^2*sin(t2)^2*sin(t5) - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*sin
(t4)^2*sin(t5) - 50*Pz*cos(t2)*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4) - 50*Pz*cos(t1)
^2*cos(t2)*cos(t5)*sin(t3)^2*sin(t4) + 50*Px*cos(t3)*cos(t4)^2*sin(t1)*sin(t2)^2*sin
(t5) + 50*Px*cos(t2)^2*cos(t3)*sin(t1)*sin(t4)^2*sin(t5) - 50*Py*cos(t1)*cos(t3)*sin
(t2)^2*sin(t4)^2*sin(t5) - 50*Pz*cos(t2)*cos(t5)*sin(t1)^2*sin(t3)^2*sin(t4) -
50*Pz*cos(t1)^2*cos(t4)^2*sin(t2)*sin(t3)*sin(t5) + 50*Px*cos(t3)*sin(t1)*sin(t2)^2*sin
(t4)^2*sin(t5) - 50*Pz*cos(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) - 50*Pz*cos(t4)
^2*sin(t1)^2*sin(t2)*sin(t3)*sin(t5) - 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*cos(t5) -
50*Pz*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) - 50*Py*cos(t2)*cos(t3)*cos(t4)*cos
(t5)*sin(t1))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)
^2)*(cos(t4)^2 + sin(t4)^2)*(cos(t5)^2 + sin(t5)^2))]
[ sin(t6), 0, -cos(t6),
(20*cos(t4)*sin(t1)^2*sin(t2)^2*sin(t3)^2 + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2
+ 17*cos(t1)^2*cos(t3)*sin(t2)*sin(t4) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*sin(t4)^2 +
20*cos(t1)^2*cos(t2)^2*cos(t4)^2*sin(t3)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t4)^2*sin(t2)^2
+ 20*cos(t2)^2*cos(t3)^2*cos(t4)^2*sin(t1)^2 + 17*cos(t3)*sin(t1)^2*sin(t2)*sin(t4) +
20*cos(t1)^2*cos(t2)^2*sin(t3)^2*sin(t4)^2 + 20*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4)^2
+ 20*cos(t1)^2*cos(t4)^2*sin(t2)^2*sin(t3)^2 + 20*cos(t2)^2*cos(t3)^2*sin(t1)^2*sin(t4)
^2 + 20*cos(t2)^2*cos(t4)^2*sin(t1)^2*sin(t3)^2 + 20*cos(t3)^2*cos(t4)^2*sin(t1)^2*sin
(t2)^2 + 20*cos(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2 + 20*cos(t2)^2*sin(t1)^2*sin(t3)
^2*sin(t4)^2 + 20*cos(t3)^2*sin(t1)^2*sin(t2)^2*sin(t4)^2 + 20*cos(t4)^2*sin(t1)^2*sin
(t2)^2*sin(t3)^2 + 20*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2 + 17*cos(t1)^2*cos(t2)
*cos(t3)^2*cos(t4) + 17*cos(t2)*cos(t3)^2*cos(t4)*sin(t1)^2 + 17*cos(t1)^2*cos(t2)*cos
(t4)*sin(t3)^2 + 17*cos(t2)*cos(t4)*sin(t1)^2*sin(t3)^2 + 20*cos(t1)^2*cos(t2)^2*cos
(t3)^2*cos(t4) + 20*cos(t1)^2*cos(t2)^2*cos(t4)*sin(t3)^2 + 20*cos(t1)^2*cos(t3)^2*cos
(t4)*sin(t2)^2 + 20*cos(t2)^2*cos(t3)^2*cos(t4)*sin(t1)^2 + 20*cos(t1)^2*cos(t4)*sin
(t2)^2*sin(t3)^2 + 20*cos(t2)^2*cos(t4)*sin(t1)^2*sin(t3)^2 + 20*cos(t3)^2*cos(t4)*sin
(t1)^2*sin(t2)^2 + 50*Px*cos(t1)*cos(t2)*cos(t3)*sin(t4) + 50*Py*cos(t2)*cos(t3)*sin
(t1)*sin(t4) - 50*Px*cos(t1)*cos(t3)^2*cos(t4)*sin(t2) - 50*Px*cos(t1)*cos(t4)*sin(t2)
*sin(t3)^2 + 50*Py*cos(t1)*cos(t2)^2*sin(t3)*sin(t4) - 50*Py*cos(t3)^2*cos(t4)*sin(t1)
*sin(t2) - 50*Pz*cos(t1)^2*cos(t3)*sin(t2)*sin(t4) - 50*Px*cos(t2)^2*sin(t1)*sin(t3)
*sin(t4) + 50*Py*cos(t1)*sin(t2)^2*sin(t3)*sin(t4) - 50*Py*cos(t4)*sin(t1)*sin(t2)*sin

(t3)^2 - 50*Pz*cos(t3)*sin(t1)^2*sin(t2)*sin(t4) - 50*Px*sin(t1)*sin(t2)^2*sin(t3)*sin
(t4) - 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4) - 50*Pz*cos(t2)*cos(t3)^2*cos(t4)*sin
(t1)^2 - 50*Pz*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2 - 50*Pz*cos(t2)*cos(t4)*sin(t1)
^2*sin(t3)^2)/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)
^2)*(cos(t4)^2 + sin(t4)^2))]
[ 0, 1, 0, -(17*cos(t1)^2*cos(t3)*cos(t4)*sin(t2)*sin(t5) - 20*sin(t1)
^2*sin(t2)^2*sin(t3)^2*sin(t4)*sin(t5) + 17*cos(t3)*cos(t4)*sin(t1)^2*sin(t2)*sin(t5) -
17*cos(t1)^2*cos(t2)*cos(t3)^2*sin(t4)*sin(t5) + 17*cos(t1)^2*cos(t4)^2*cos(t5)*sin(t2)
*sin(t3) - 17*cos(t2)*cos(t3)^2*sin(t1)^2*sin(t4)*sin(t5) - 17*cos(t1)^2*cos(t2)*sin
(t3)^2*sin(t4)*sin(t5) + 17*cos(t1)^2*cos(t5)*sin(t2)*sin(t3)*sin(t4)^2 + 17*cos(t4)
^2*cos(t5)*sin(t1)^2*sin(t2)*sin(t3) - 17*cos(t2)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) +
17*cos(t5)*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2 - 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*sin
(t4)*sin(t5) - 20*cos(t1)^2*cos(t2)^2*sin(t3)^2*sin(t4)*sin(t5) - 20*cos(t1)^2*cos(t3)
^2*sin(t2)^2*sin(t4)*sin(t5) - 20*cos(t2)^2*cos(t3)^2*sin(t1)^2*sin(t4)*sin(t5) -
20*cos(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)*sin(t5) - 20*cos(t2)^2*sin(t1)^2*sin(t3)^2*sin
(t4)*sin(t5) - 20*cos(t3)^2*sin(t1)^2*sin(t2)^2*sin(t4)*sin(t5) + 50*Py*cos(t2)*cos(t3)
*cos(t4)*sin(t1)*sin(t5) + 50*Px*cos(t1)*cos(t2)*cos(t4)^2*cos(t5)*sin(t3) + 50*Px*cos
(t1)*cos(t2)*cos(t5)*sin(t3)*sin(t4)^2 + 50*Py*cos(t1)*cos(t2)^2*cos(t4)*sin(t3)*sin
(t5) + 50*Py*cos(t2)*cos(t4)^2*cos(t5)*sin(t1)*sin(t3) - 50*Pz*cos(t1)^2*cos(t3)*cos
(t4)*sin(t2)*sin(t5) + 50*Px*cos(t1)*cos(t3)^2*sin(t2)*sin(t4)*sin(t5) - 50*Px*cos(t2)
^2*cos(t4)*sin(t1)*sin(t3)*sin(t5) + 50*Py*cos(t1)*cos(t4)*sin(t2)^2*sin(t3)*sin(t5) +
50*Py*cos(t2)*cos(t5)*sin(t1)*sin(t3)*sin(t4)^2 - 50*Pz*cos(t3)*cos(t4)*sin(t1)^2*sin
(t2)*sin(t5) + 50*Px*cos(t1)*sin(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Px*cos(t4)*sin(t1)
*sin(t2)^2*sin(t3)*sin(t5) + 50*Py*cos(t3)^2*sin(t1)*sin(t2)*sin(t4)*sin(t5) +
50*Py*sin(t1)*sin(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos
(t4)^2*cos(t5) + 50*Px*cos(t2)^2*cos(t3)*cos(t4)^2*cos(t5)*sin(t1) - 50*Py*cos(t1)*cos
(t3)*cos(t4)^2*cos(t5)*sin(t2)^2 - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t5)*sin(t4)^2 +
50*Px*cos(t3)*cos(t4)^2*cos(t5)*sin(t1)*sin(t2)^2 + 50*Px*cos(t2)^2*cos(t3)*cos(t5)*sin
(t1)*sin(t4)^2 - 50*Py*cos(t1)*cos(t3)*cos(t5)*sin(t2)^2*sin(t4)^2 + 50*Pz*cos(t1)
^2*cos(t2)*cos(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos(t1)^2*cos(t4)^2*cos(t5)*sin(t2)*sin
(t3) + 50*Px*cos(t3)*cos(t5)*sin(t1)*sin(t2)^2*sin(t4)^2 + 50*Pz*cos(t2)*cos(t3)^2*sin
(t1)^2*sin(t4)*sin(t5) + 50*Pz*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos
(t1)^2*cos(t5)*sin(t2)*sin(t3)*sin(t4)^2 - 50*Pz*cos(t4)^2*cos(t5)*sin(t1)^2*sin(t2)
*sin(t3) + 50*Pz*cos(t2)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos(t5)*sin(t1)
^2*sin(t2)*sin(t3)*sin(t4)^2 + 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*sin(t5))/(50*(cos
(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin
(t4)^2)*(cos(t5)^2 + sin(t5)^2))]
[ 0, 0, 0,
1]
Tb =
[ cos(t6), 0, sin(t6), (63*sin(t6))/500]

[ sin(t6), 0, -cos(t6), -(63*cos(t6))/500]
[ 0, 1, 0, 0]
[ 0, 0, 0, 1]
Ta =
[ 1, 0, 0, (20*cos(t1)^2*cos(t2)^2*cos(t4)*cos(t5)^2*sin(t3)^2*sin(t6) + 20*cos(t1)
^2*cos(t2)^2*cos(t3)^2*cos(t4)*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*cos(t4)*cos
(t5)^2*sin(t2)^2*sin(t6) + 20*cos(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t6) +
20*cos(t1)^2*cos(t4)*cos(t5)^2*sin(t2)^2*sin(t3)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos
(t4)*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*cos(t4)*sin(t2)^2*sin(t5)
^2*sin(t6) + 20*cos(t2)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t3)^2*sin(t6) + 20*cos(t2)
^2*cos(t3)^2*cos(t4)*sin(t1)^2*sin(t5)^2*sin(t6) + 20*cos(t3)^2*cos(t4)*cos(t5)^2*sin
(t1)^2*sin(t2)^2*sin(t6) + 20*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t6) +
20*cos(t1)^2*cos(t4)*sin(t2)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t2)^2*cos(t4)*sin
(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t3)^2*cos(t4)*sin(t1)^2*sin(t2)^2*sin(t5)
^2*sin(t6) + 20*cos(t4)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2*sin(t6) - 17*cos(t1)
^2*cos(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin(t4) - 17*cos(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin
(t1)^2*sin(t4) - 17*cos(t1)^2*cos(t2)*cos(t5)*cos(t6)*sin(t3)^2*sin(t4) + 20*cos(t1)
^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*sin(t6) - 17*cos(t2)*cos(t5)*cos(t6)*sin(t1)
^2*sin(t3)^2*sin(t4) + 17*cos(t1)^2*cos(t3)*cos(t5)^2*sin(t2)*sin(t4)*sin(t6) - 17*cos
(t1)^2*cos(t4)^2*cos(t6)*sin(t2)*sin(t3)*sin(t5) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos
(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t5)^2*sin(t4)^2*sin(t6)
+ 20*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t5)^2*sin(t3)^2*sin(t6) + 20*cos(t1)^2*cos(t3)
^2*cos(t4)^2*cos(t5)^2*sin(t2)^2*sin(t6) + 20*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)
^2*sin(t1)^2*sin(t6) + 17*cos(t3)*cos(t5)^2*sin(t1)^2*sin(t2)*sin(t4)*sin(t6) + 17*cos
(t1)^2*cos(t3)*sin(t2)*sin(t4)*sin(t5)^2*sin(t6) - 17*cos(t1)^2*cos(t6)*sin(t2)*sin(t3)
*sin(t4)^2*sin(t5) - 17*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t2)*sin(t3)*sin(t5) + 20*cos
(t1)^2*cos(t2)^2*cos(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t4)
^2*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t5)^2*sin(t3)^2*sin(t4)
^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*cos(t4)^2*sin(t2)^2*sin(t5)^2*sin(t6) + 20*cos(t1)
^2*cos(t3)^2*cos(t5)^2*sin(t2)^2*sin(t4)^2*sin(t6) + 20*cos(t1)^2*cos(t4)^2*cos(t5)
^2*sin(t1)^2*sin(t2)^2*sin(t6) + 17*cos(t3)*sin(t1)^2*sin(t2)*sin(t4)*sin(t5)^2*sin(t6)
- 17*cos(t6)*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) + 20*cos(t1)^2*cos(t2)^2*sin
(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4)^2*sin(t5)
^2*sin(t6) + 20*cos(t1)^2*cos(t4)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t1)
^2*cos(t5)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t6) + 20*cos(t2)^2*cos(t3)^2*sin(t1)
^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t2)^2*cos(t4)^2*sin(t1)^2*sin(t3)^2*sin(t5)
^2*sin(t6) + 20*cos(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t2)
^2*sin(t1)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t3)^2*sin(t1)^2*sin(t2)
^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t4)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)
^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t6) - 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos
(t5)*cos(t6)*sin(t4) + 20*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) +
17*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t6) + 17*cos(t1)^2*cos(t2)*cos(t4)
*cos(t5)^2*sin(t3)^2*sin(t6) + 17*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*sin(t5)^2*sin(t6)
- 20*cos(t1)^2*cos(t2)^2*cos(t5)*cos(t6)*sin(t3)^2*sin(t4) - 20*cos(t1)^2*cos(t3)^2*cos
(t5)*cos(t6)*sin(t2)^2*sin(t4) - 20*cos(t2)^2*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)^2*sin
(t4) + 17*cos(t2)*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t3)^2*sin(t6) + 17*cos(t2)*cos(t3)
^2*cos(t4)*sin(t1)^2*sin(t5)^2*sin(t6) + 17*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2*sin(t5)
^2*sin(t6) - 20*cos(t1)^2*cos(t5)*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t4) - 20*cos(t2)
^2*cos(t5)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4) - 20*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)
^2*sin(t2)^2*sin(t4) + 17*cos(t2)*cos(t4)*sin(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6) -
20*cos(t5)*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4) + 17*cos(t1)^2*cos(t3)*cos(t4)
*cos(t5)*cos(t6)*sin(t2) + 17*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t1)^2*sin(t2) +
20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t6) - 50*Pz*cos(t2)*cos(t4)*cos
(t5)^2*sin(t1)^2*sin(t3)^2*sin(t6) - 50*Pz*cos(t2)*cos(t3)^2*cos(t4)*sin(t1)^2*sin(t5)
^2*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2*sin(t5)^2*sin(t6) - 50*Pz*cos
(t2)*cos(t4)*sin(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 50*Py*cos(t1)*cos(t2)^2*cos(t4)
*cos(t5)*cos(t6)*sin(t3) - 50*Pz*cos(t1)^2*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t2) +
50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t5)^2*sin(t4)*sin(t6) - 50*Px*cos(t1)*cos(t2)*cos(t4)
^2*cos(t6)*sin(t3)*sin(t5) + 50*Px*cos(t1)*cos(t3)^2*cos(t5)*cos(t6)*sin(t2)*sin(t4) -
50*Px*cos(t2)^2*cos(t4)*cos(t5)*cos(t6)*sin(t1)*sin(t3) + 50*Py*cos(t1)*cos(t4)*cos(t5)
*cos(t6)*sin(t2)^2*sin(t3) - 50*Pz*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t1)^2*sin(t2) +
50*Px*cos(t1)*cos(t2)*cos(t3)*sin(t4)*sin(t5)^2*sin(t6) - 50*Px*cos(t1)*cos(t2)*cos(t6)
*sin(t3)*sin(t4)^2*sin(t5) + 50*Px*cos(t1)*cos(t5)*cos(t6)*sin(t2)*sin(t3)^2*sin(t4) -
50*Px*cos(t4)*cos(t5)*cos(t6)*sin(t1)*sin(t2)^2*sin(t3) + 50*Py*cos(t2)*cos(t3)*cos(t5)
^2*sin(t1)*sin(t4)*sin(t6) - 50*Py*cos(t2)*cos(t4)^2*cos(t6)*sin(t1)*sin(t3)*sin(t5) +
50*Py*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)*sin(t2)*sin(t4) + 50*Py*cos(t2)*cos(t3)*sin(t1)
*sin(t4)*sin(t5)^2*sin(t6) - 50*Py*cos(t2)*cos(t6)*sin(t1)*sin(t3)*sin(t4)^2*sin(t5) +
50*Py*cos(t5)*cos(t6)*sin(t1)*sin(t2)*sin(t3)^2*sin(t4) + 50*Py*cos(t1)*cos(t2)^2*cos
(t3)*cos(t4)^2*cos(t6)*sin(t5) + 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin
(t4) - 50*Px*cos(t1)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t2)*sin(t6) - 50*Px*cos(t2)^2*cos
(t3)*cos(t4)^2*cos(t6)*sin(t1)*sin(t5) + 50*Py*cos(t1)*cos(t3)*cos(t4)^2*cos(t6)*sin
(t2)^2*sin(t5) + 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t6)*sin(t4)^2*sin(t5) + 50*Pz*cos
(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)^2*sin(t4) + 50*Pz*cos(t1)^2*cos(t2)*cos(t5)*cos
(t6)*sin(t3)^2*sin(t4) - 50*Px*cos(t1)*cos(t4)*cos(t5)^2*sin(t2)*sin(t3)^2*sin(t6) -
50*Px*cos(t1)*cos(t3)^2*cos(t4)*sin(t2)*sin(t5)^2*sin(t6) - 50*Px*cos(t3)*cos(t4)^2*cos
(t6)*sin(t1)*sin(t2)^2*sin(t5) - 50*Px*cos(t2)^2*cos(t3)*cos(t6)*sin(t1)*sin(t4)^2*sin
(t5) + 50*Py*cos(t1)*cos(t3)*cos(t6)*sin(t2)^2*sin(t4)^2*sin(t5) + 50*Py*cos(t1)*cos
(t2)^2*cos(t5)^2*sin(t3)*sin(t4)*sin(t6) - 50*Py*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)
*sin(t2)*sin(t6) + 50*Pz*cos(t2)*cos(t5)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4) -
50*Pz*cos(t1)^2*cos(t3)*cos(t5)^2*sin(t2)*sin(t4)*sin(t6) + 50*Pz*cos(t1)^2*cos(t4)
^2*cos(t6)*sin(t2)*sin(t3)*sin(t5) - 50*Px*cos(t1)*cos(t4)*sin(t2)*sin(t3)^2*sin(t5)
^2*sin(t6) - 50*Px*cos(t3)*cos(t6)*sin(t1)*sin(t2)^2*sin(t4)^2*sin(t5) - 50*Px*cos(t2)
^2*cos(t5)^2*sin(t1)*sin(t3)*sin(t4)*sin(t6) + 50*Py*cos(t1)*cos(t2)^2*sin(t3)*sin(t4)
*sin(t5)^2*sin(t6) + 50*Py*cos(t1)*cos(t5)^2*sin(t2)^2*sin(t3)*sin(t4)*sin(t6) -
50*Py*cos(t4)*cos(t5)^2*sin(t1)*sin(t2)*sin(t3)^2*sin(t6) - 50*Py*cos(t3)^2*cos(t4)*sin
(t1)*sin(t2)*sin(t5)^2*sin(t6) - 50*Pz*cos(t3)*cos(t5)^2*sin(t1)^2*sin(t2)*sin(t4)*sin
(t6) - 50*Pz*cos(t1)^2*cos(t3)*sin(t2)*sin(t4)*sin(t5)^2*sin(t6) + 50*Pz*cos(t1)^2*cos
(t6)*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) + 50*Pz*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t2)*sin
(t3)*sin(t5) + 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*cos(t5)*cos(t6) - 50*Px*cos(t2)
^2*sin(t1)*sin(t3)*sin(t4)*sin(t5)^2*sin(t6) - 50*Px*cos(t5)^2*sin(t1)*sin(t2)^2*sin
(t3)*sin(t4)*sin(t6) + 50*Py*cos(t1)*sin(t2)^2*sin(t3)*sin(t4)*sin(t5)^2*sin(t6) -
50*Py*cos(t4)*sin(t1)*sin(t2)*sin(t3)^2*sin(t5)^2*sin(t6) - 50*Pz*cos(t3)*sin(t1)^2*sin
(t2)*sin(t4)*sin(t5)^2*sin(t6) + 50*Pz*cos(t6)*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin
(t5) + 50*Py*cos(t2)*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t1) - 50*Px*sin(t1)*sin(t2)
^2*sin(t3)*sin(t4)*sin(t5)^2*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos
(t5)^2*sin(t6) - 50*Pz*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t6) -
50*Pz*cos(t1)^2*cos(t2)*cos(t4)*cos(t5)^2*sin(t3)^2*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)
*cos(t3)^2*cos(t4)*sin(t5)^2*sin(t6))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)
^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos(t5)^2 + sin(t5)^2)*(cos(t6)^2
+ sin(t6)^2))]
[ 0, 1, 0,
-(17*cos(t1)^2*cos(t3)*cos(t4)*sin(t2)*sin(t5) - 20*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin
(t4)*sin(t5) + 17*cos(t3)*cos(t4)*sin(t1)^2*sin(t2)*sin(t5) - 17*cos(t1)^2*cos(t2)*cos
(t3)^2*sin(t4)*sin(t5) + 17*cos(t1)^2*cos(t4)^2*cos(t5)*sin(t2)*sin(t3) - 17*cos(t2)
*cos(t3)^2*sin(t1)^2*sin(t4)*sin(t5) - 17*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4)*sin(t5) +
17*cos(t1)^2*cos(t5)*sin(t2)*sin(t3)*sin(t4)^2 + 17*cos(t4)^2*cos(t5)*sin(t1)^2*sin(t2)
*sin(t3) - 17*cos(t2)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) + 17*cos(t5)*sin(t1)^2*sin
(t2)*sin(t3)*sin(t4)^2 - 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*sin(t4)*sin(t5) - 20*cos(t1)
^2*cos(t2)^2*sin(t3)^2*sin(t4)*sin(t5) - 20*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4)*sin
(t5) - 20*cos(t2)^2*cos(t3)^2*sin(t1)^2*sin(t4)*sin(t5) - 20*cos(t1)^2*sin(t2)^2*sin
(t3)^2*sin(t4)*sin(t5) - 20*cos(t2)^2*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) - 20*cos(t3)
^2*sin(t1)^2*sin(t2)^2*sin(t4)*sin(t5) + 50*Py*cos(t2)*cos(t3)*cos(t4)*sin(t1)*sin(t5)
+ 50*Px*cos(t1)*cos(t2)*cos(t4)^2*cos(t5)*sin(t3) + 50*Px*cos(t1)*cos(t2)*cos(t5)*sin
(t3)*sin(t4)^2 + 50*Py*cos(t1)*cos(t2)^2*cos(t4)*sin(t3)*sin(t5) + 50*Py*cos(t2)*cos
(t4)^2*cos(t5)*sin(t1)*sin(t3) - 50*Pz*cos(t1)^2*cos(t3)*cos(t4)*sin(t2)*sin(t5) +
50*Px*cos(t1)*cos(t3)^2*sin(t2)*sin(t4)*sin(t5) - 50*Px*cos(t2)^2*cos(t4)*sin(t1)*sin
(t3)*sin(t5) + 50*Py*cos(t1)*cos(t4)*sin(t2)^2*sin(t3)*sin(t5) + 50*Py*cos(t2)*cos(t5)
*sin(t1)*sin(t3)*sin(t4)^2 - 50*Pz*cos(t3)*cos(t4)*sin(t1)^2*sin(t2)*sin(t5) +
50*Px*cos(t1)*sin(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Px*cos(t4)*sin(t1)*sin(t2)^2*sin
(t3)*sin(t5) + 50*Py*cos(t3)^2*sin(t1)*sin(t2)*sin(t4)*sin(t5) + 50*Py*sin(t1)*sin(t2)
*sin(t3)^2*sin(t4)*sin(t5) - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t4)^2*cos(t5) +
50*Px*cos(t2)^2*cos(t3)*cos(t4)^2*cos(t5)*sin(t1) - 50*Py*cos(t1)*cos(t3)*cos(t4)^2*cos
(t5)*sin(t2)^2 - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t5)*sin(t4)^2 + 50*Px*cos(t3)*cos
(t4)^2*cos(t5)*sin(t1)*sin(t2)^2 + 50*Px*cos(t2)^2*cos(t3)*cos(t5)*sin(t1)*sin(t4)^2 -
50*Py*cos(t1)*cos(t3)*cos(t5)*sin(t2)^2*sin(t4)^2 + 50*Pz*cos(t1)^2*cos(t2)*cos(t3)
^2*sin(t4)*sin(t5) - 50*Pz*cos(t1)^2*cos(t4)^2*cos(t5)*sin(t2)*sin(t3) + 50*Px*cos(t3)
*cos(t5)*sin(t1)*sin(t2)^2*sin(t4)^2 + 50*Pz*cos(t2)*cos(t3)^2*sin(t1)^2*sin(t4)*sin
(t5) + 50*Pz*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos(t1)^2*cos(t5)*sin
(t2)*sin(t3)*sin(t4)^2 - 50*Pz*cos(t4)^2*cos(t5)*sin(t1)^2*sin(t2)*sin(t3) + 50*Pz*cos
(t2)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos(t5)*sin(t1)^2*sin(t2)*sin(t3)*sin
(t4)^2 + 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*sin(t5))/(50*(cos(t1)^2 + sin(t1)^2)*
(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos(t5)^2 +
sin(t5)^2))]
[ 0, 0, 1, -(20*cos(t1)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t2)^2*sin(t3)^2 + 20*cos(t1)
^2*cos(t2)^2*cos(t4)*cos(t6)*sin(t3)^2*sin(t5)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t4)*cos
(t6)*sin(t2)^2*sin(t5)^2 + 20*cos(t2)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2 +
20*cos(t2)^2*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)^2*sin(t5)^2 + 20*cos(t3)^2*cos(t4)*cos
(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2 + 20*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)
^2*sin(t3)^2 + 20*cos(t1)^2*cos(t4)*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t5)^2 + 20*cos(t2)
^2*cos(t4)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t5)^2 + 20*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)
^2*sin(t2)^2*sin(t5)^2 + 20*cos(t4)*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2 +
20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6) + 17*cos(t1)^2*cos(t2)*cos
(t3)^2*cos(t5)*sin(t4)*sin(t6) + 17*cos(t1)^2*cos(t3)*cos(t5)^2*cos(t6)*sin(t2)*sin(t4)
+ 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t6)*sin(t5)^2 + 20*cos(t1)^2*cos(t2)
^2*cos(t3)^2*cos(t5)^2*cos(t6)*sin(t4)^2 + 20*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t5)
^2*cos(t6)*sin(t3)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t2)^2 +
20*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t1)^2 + 17*cos(t2)*cos(t3)^2*cos
(t5)*sin(t1)^2*sin(t4)*sin(t6) + 17*cos(t3)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)*sin(t4)
+ 17*cos(t1)^2*cos(t2)*cos(t5)*sin(t3)^2*sin(t4)*sin(t6) + 17*cos(t1)^2*cos(t3)*cos(t6)
*sin(t2)*sin(t4)*sin(t5)^2 + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t6)*sin(t4)^2*sin(t5)
^2 + 20*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t6)*sin(t3)^2*sin(t5)^2 + 20*cos(t1)^2*cos
(t2)^2*cos(t5)^2*cos(t6)*sin(t3)^2*sin(t4)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t4)^2*cos(t6)
*sin(t2)^2*sin(t5)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t5)^2*cos(t6)*sin(t2)^2*sin(t4)^2 +
20*cos(t1)^2*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t2)^2*sin(t3)^2 + 20*cos(t2)^2*cos(t3)
^2*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t5)^2 + 20*cos(t2)^2*cos(t3)^2*cos(t5)^2*cos(t6)*sin
(t1)^2*sin(t4)^2 + 20*cos(t2)^2*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2 +
20*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2 + 17*cos(t2)*cos(t5)*sin
(t1)^2*sin(t3)^2*sin(t4)*sin(t6) + 17*cos(t3)*cos(t6)*sin(t1)^2*sin(t2)*sin(t4)*sin(t5)
^2 + 17*cos(t1)^2*cos(t4)^2*sin(t2)*sin(t3)*sin(t5)*sin(t6) + 20*cos(t1)^2*cos(t2)
^2*cos(t6)*sin(t3)^2*sin(t4)^2*sin(t5)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t6)*sin(t2)^2*sin
(t4)^2*sin(t5)^2 + 20*cos(t1)^2*cos(t4)^2*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t5)^2 +
20*cos(t1)^2*cos(t5)^2*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t4)^2 + 20*cos(t2)^2*cos(t3)
(t3)^2*sin(t5)^2 + 20*cos(t2)^2*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4)^2 +
(t2)^2*sin(t3)^2 + 17*cos(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) + 17*cos(t4)
^2*sin(t1)^2*sin(t2)*sin(t3)*sin(t5)*sin(t6) + 20*cos(t1)^2*cos(t6)*sin(t2)^2*sin(t3)
^2*sin(t4)^2*sin(t5)^2 + 20*cos(t2)^2*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2 +
20*cos(t3)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t4)^2*sin(t5)^2 + 20*cos(t4)^2*cos(t6)*sin
(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2 + 20*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)
^2*sin(t4)^2 + 17*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6) + 17*sin(t1)
^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) + 20*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)
^2*sin(t4)^2*sin(t5)^2 + 17*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2 +
17*cos(t1)^2*cos(t2)*cos(t4)*cos(t5)^2*cos(t6)*sin(t3)^2 + 17*cos(t1)^2*cos(t2)*cos(t3)
^2*cos(t4)*cos(t6)*sin(t5)^2 + 17*cos(t2)*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2
+ 17*cos(t2)*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)^2*sin(t5)^2 + 17*cos(t1)^2*cos(t2)*cos
(t4)*cos(t6)*sin(t3)^2*sin(t5)^2 + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t5)*sin(t4)*sin
(t6) + 17*cos(t2)*cos(t4)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t5)^2 + 20*cos(t1)^2*cos(t2)
^2*cos(t5)*sin(t3)^2*sin(t4)*sin(t6) + 20*cos(t1)^2*cos(t3)^2*cos(t5)*sin(t2)^2*sin(t4)
*sin(t6) + 20*cos(t2)^2*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4)*sin(t6) + 20*cos(t1)^2*cos
(t5)*sin(t2)^2*sin(t3)^2*sin(t4)*sin(t6) + 20*cos(t2)^2*cos(t5)*sin(t1)^2*sin(t3)^2*sin
(t4)*sin(t6) + 20*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t2)^2*sin(t4)*sin(t6) + 20*cos(t5)
*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos
(t4)*cos(t5)^2*cos(t6) - 17*cos(t1)^2*cos(t3)*cos(t4)*cos(t5)*sin(t2)*sin(t6) + 20*cos
(t1)^2*cos(t2)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t3)^2 + 20*cos(t1)^2*cos(t2)^2*cos(t3)
^2*cos(t4)*cos(t6)*sin(t5)^2 + 20*cos(t1)^2*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t2)
^2 + 20*cos(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2 - 17*cos(t3)*cos(t4)
*cos(t5)*sin(t1)^2*sin(t2)*sin(t6) - 50*Pz*cos(t2)*cos(t4)*cos(t6)*sin(t1)^2*sin(t3)
^2*sin(t5)^2 + 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t5)^2*cos(t6)*sin(t4) + 50*Px*cos(t1)
*cos(t2)*cos(t3)*cos(t6)*sin(t4)*sin(t5)^2 - 50*Py*cos(t1)*cos(t2)^2*cos(t4)*cos(t5)
*sin(t3)*sin(t6) + 50*Py*cos(t2)*cos(t3)*cos(t5)^2*cos(t6)*sin(t1)*sin(t4) + 50*Pz*cos

(t1)^2*cos(t3)*cos(t4)*cos(t5)*sin(t2)*sin(t6) + 50*Px*cos(t1)*cos(t2)*cos(t4)^2*sin
(t3)*sin(t5)*sin(t6) - 50*Px*cos(t1)*cos(t3)^2*cos(t5)*sin(t2)*sin(t4)*sin(t6) +
50*Px*cos(t2)^2*cos(t4)*cos(t5)*sin(t1)*sin(t3)*sin(t6) - 50*Py*cos(t1)*cos(t4)*cos(t5)
*sin(t2)^2*sin(t3)*sin(t6) + 50*Py*cos(t2)*cos(t3)*cos(t6)*sin(t1)*sin(t4)*sin(t5)^2 +
50*Pz*cos(t3)*cos(t4)*cos(t5)*sin(t1)^2*sin(t2)*sin(t6) + 50*Px*cos(t1)*cos(t2)*sin(t3)
*sin(t4)^2*sin(t5)*sin(t6) - 50*Px*cos(t1)*cos(t5)*sin(t2)*sin(t3)^2*sin(t4)*sin(t6) +
50*Px*cos(t4)*cos(t5)*sin(t1)*sin(t2)^2*sin(t3)*sin(t6) + 50*Py*cos(t2)*cos(t4)^2*sin
(t1)*sin(t3)*sin(t5)*sin(t6) - 50*Py*cos(t3)^2*cos(t5)*sin(t1)*sin(t2)*sin(t4)*sin(t6)
+ 50*Py*cos(t2)*sin(t1)*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) - 50*Py*cos(t5)*sin(t1)*sin
(t2)*sin(t3)^2*sin(t4)*sin(t6) - 50*Px*cos(t1)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin
(t2) - 50*Px*cos(t1)*cos(t4)*cos(t5)^2*cos(t6)*sin(t2)*sin(t3)^2 - 50*Px*cos(t1)*cos
(t3)^2*cos(t4)*cos(t6)*sin(t2)*sin(t5)^2 - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t4)
^2*sin(t5)*sin(t6) + 50*Py*cos(t1)*cos(t2)^2*cos(t5)^2*cos(t6)*sin(t3)*sin(t4) -
50*Py*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)*sin(t2) - 50*Pz*cos(t1)^2*cos(t2)*cos
(t3)^2*cos(t5)*sin(t4)*sin(t6) - 50*Pz*cos(t1)^2*cos(t3)*cos(t5)^2*cos(t6)*sin(t2)*sin
(t4) - 50*Px*cos(t1)*cos(t4)*cos(t6)*sin(t2)*sin(t3)^2*sin(t5)^2 + 50*Px*cos(t2)^2*cos
(t3)*cos(t4)^2*sin(t1)*sin(t5)*sin(t6) - 50*Px*cos(t2)^2*cos(t5)^2*cos(t6)*sin(t1)*sin
(t3)*sin(t4) - 50*Py*cos(t1)*cos(t3)*cos(t4)^2*sin(t2)^2*sin(t5)*sin(t6) - 50*Py*cos
(t1)*cos(t2)^2*cos(t3)*sin(t4)^2*sin(t5)*sin(t6) + 50*Py*cos(t1)*cos(t2)^2*cos(t6)*sin
(t3)*sin(t4)*sin(t5)^2 + 50*Py*cos(t1)*cos(t5)^2*cos(t6)*sin(t2)^2*sin(t3)*sin(t4) -
50*Py*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)*sin(t2)*sin(t3)^2 - 50*Py*cos(t3)^2*cos(t4)*cos
(t6)*sin(t1)*sin(t2)*sin(t5)^2 - 50*Pz*cos(t2)*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4)*sin
(t6) - 50*Pz*cos(t3)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)*sin(t4) - 50*Pz*cos(t1)^2*cos
(t2)*cos(t5)*sin(t3)^2*sin(t4)*sin(t6) - 50*Pz*cos(t1)^2*cos(t3)*cos(t6)*sin(t2)*sin
(t4)*sin(t5)^2 + 50*Px*cos(t3)*cos(t4)^2*sin(t1)*sin(t2)^2*sin(t5)*sin(t6) + 50*Px*cos
(t2)^2*cos(t3)*sin(t1)*sin(t4)^2*sin(t5)*sin(t6) - 50*Px*cos(t2)^2*cos(t6)*sin(t1)*sin
(t3)*sin(t4)*sin(t5)^2 - 50*Px*cos(t5)^2*cos(t6)*sin(t1)*sin(t2)^2*sin(t3)*sin(t4) -
50*Py*cos(t1)*cos(t3)*sin(t2)^2*sin(t4)^2*sin(t5)*sin(t6) + 50*Py*cos(t1)*cos(t6)*sin
(t2)^2*sin(t3)*sin(t4)*sin(t5)^2 - 50*Py*cos(t4)*cos(t6)*sin(t1)*sin(t2)*sin(t3)^2*sin
(t5)^2 - 50*Pz*cos(t2)*cos(t5)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t6) - 50*Pz*cos(t3)*cos
(t6)*sin(t1)^2*sin(t2)*sin(t4)*sin(t5)^2 - 50*Pz*cos(t1)^2*cos(t4)^2*sin(t2)*sin(t3)
*sin(t5)*sin(t6) + 50*Px*cos(t3)*sin(t1)*sin(t2)^2*sin(t4)^2*sin(t5)*sin(t6) -
50*Px*cos(t6)*sin(t1)*sin(t2)^2*sin(t3)*sin(t4)*sin(t5)^2 - 50*Pz*cos(t1)^2*sin(t2)*sin
(t3)*sin(t4)^2*sin(t5)*sin(t6) - 50*Pz*cos(t4)^2*sin(t1)^2*sin(t2)*sin(t3)*sin(t5)*sin
(t6) - 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*cos(t5)*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)
*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6) - 50*Pz*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin
(t5)*sin(t6) - 50*Py*cos(t2)*cos(t3)*cos(t4)*cos(t5)*sin(t1)*sin(t6) - 50*Pz*cos(t2)
*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2 - 50*Pz*cos(t1)^2*cos(t2)*cos(t4)*cos
(t5)^2*cos(t6)*sin(t3)^2 - 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t6)*sin(t5)^2
- 50*Pz*cos(t2)*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2 - 50*Pz*cos(t2)*cos(t3)
^2*cos(t4)*cos(t6)*sin(t1)^2*sin(t5)^2 - 50*Pz*cos(t1)^2*cos(t2)*cos(t4)*cos(t6)*sin
(t3)^2*sin(t5)^2)/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin
(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos(t5)^2 + sin(t5)^2)*(cos(t6)^2 + sin(t6)^2))]
[ 0, 0, 0,
1]

Tb =
[ 1, 0, 0, 0]
[ 0, 1, 0, 0]
[ 0, 0, 1, 63/500]
[ 0, 0, 0, 1]
Ta =
[ 1, 0, 0,
(20*cos(t1)^2*cos(t2)^2*cos(t4)*cos(t5)^2*sin(t3)^2*sin(t6) + 20*cos(t1)^2*cos(t2)
^2*cos(t3)^2*cos(t4)*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*cos(t4)*cos(t5)^2*sin
(t2)^2*sin(t6) + 20*cos(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t6) + 20*cos
(t1)^2*cos(t4)*cos(t5)^2*sin(t2)^2*sin(t3)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t4)
*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*cos(t4)*sin(t2)^2*sin(t5)^2*sin
(t6) + 20*cos(t2)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t3)^2*sin(t6) + 20*cos(t2)^2*cos
(t3)^2*cos(t4)*sin(t1)^2*sin(t5)^2*sin(t6) + 20*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)
^2*sin(t2)^2*sin(t6) + 20*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t6) +
20*cos(t1)^2*cos(t4)*sin(t2)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t2)^2*cos(t4)*sin
(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 20*cos(t3)^2*cos(t4)*sin(t1)^2*sin(t2)^2*sin(t5)
^2*sin(t6) + 20*cos(t4)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2*sin(t6) - 17*cos(t1)
^2*cos(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin(t4) - 17*cos(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin
(t1)^2*sin(t4) - 17*cos(t1)^2*cos(t2)*cos(t5)*cos(t6)*sin(t3)^2*sin(t4) + 20*cos(t1)
^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*sin(t6) - 17*cos(t2)*cos(t5)*cos(t6)*sin(t1)
^2*sin(t3)^2*sin(t4) + 17*cos(t1)^2*cos(t3)*cos(t5)^2*sin(t2)*sin(t4)*sin(t6) - 17*cos
(t1)^2*cos(t4)^2*cos(t6)*sin(t2)*sin(t3)*sin(t5) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos
(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t5)^2*sin(t4)^2*sin(t6)
+ 20*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t5)^2*sin(t3)^2*sin(t6) + 20*cos(t1)^2*cos(t3)
^2*cos(t4)^2*cos(t5)^2*sin(t2)^2*sin(t6) + 20*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)
^2*sin(t1)^2*sin(t6) + 17*cos(t3)*cos(t5)^2*sin(t1)^2*sin(t2)*sin(t4)*sin(t6) + 17*cos
(t1)^2*cos(t3)*sin(t2)*sin(t4)*sin(t5)^2*sin(t6) - 17*cos(t1)^2*cos(t6)*sin(t2)*sin(t3)
*sin(t4)^2*sin(t5) - 17*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t2)*sin(t3)*sin(t5) + 20*cos
(t1)^2*cos(t2)^2*cos(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t2)^2*cos(t4)
^2*sin(t1)^2*sin(t2)^2*sin(t6) + 17*cos(t3)*sin(t1)^2*sin(t2)*sin(t4)*sin(t5)^2*sin(t6)
- 17*cos(t6)*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) + 20*cos(t1)^2*cos(t2)^2*sin
(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4)^2*sin(t5)
^2*sin(t1)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t3)^2*sin(t1)^2*sin(t2)
^2*sin(t4)^2*sin(t5)^2*sin(t6) + 20*cos(t4)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)
^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t6) - 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos
(t5)*cos(t6)*sin(t4) + 20*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6) +
17*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t6) + 17*cos(t1)^2*cos(t2)*cos(t4)
*cos(t5)^2*sin(t3)^2*sin(t6) + 17*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*sin(t5)^2*sin(t6)
- 20*cos(t1)^2*cos(t2)^2*cos(t5)*cos(t6)*sin(t3)^2*sin(t4) - 20*cos(t1)^2*cos(t3)^2*cos
(t5)*cos(t6)*sin(t2)^2*sin(t4) - 20*cos(t2)^2*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)^2*sin
(t4) + 17*cos(t2)*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t3)^2*sin(t6) + 17*cos(t2)*cos(t3)
^2*cos(t4)*sin(t1)^2*sin(t5)^2*sin(t6) + 17*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2*sin(t5)
^2*sin(t6) - 20*cos(t1)^2*cos(t5)*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t4) - 20*cos(t2)
^2*cos(t5)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4) - 20*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)
^2*sin(t2)^2*sin(t4) + 17*cos(t2)*cos(t4)*sin(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6) -
20*cos(t5)*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4) + 17*cos(t1)^2*cos(t3)*cos(t4)
*cos(t5)*cos(t6)*sin(t2) + 17*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t1)^2*sin(t2) +
20*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t6) - 50*Pz*cos(t2)*cos(t4)*cos
(t5)^2*sin(t1)^2*sin(t3)^2*sin(t6) - 50*Pz*cos(t2)*cos(t3)^2*cos(t4)*sin(t1)^2*sin(t5)
^2*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)*cos(t4)*sin(t3)^2*sin(t5)^2*sin(t6) - 50*Pz*cos
(t2)*cos(t4)*sin(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6) + 50*Py*cos(t1)*cos(t2)^2*cos(t4)
*cos(t5)*cos(t6)*sin(t3) - 50*Pz*cos(t1)^2*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t2) +
50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t5)^2*sin(t4)*sin(t6) - 50*Px*cos(t1)*cos(t2)*cos(t4)
^2*cos(t6)*sin(t3)*sin(t5) + 50*Px*cos(t1)*cos(t3)^2*cos(t5)*cos(t6)*sin(t2)*sin(t4) -
50*Px*cos(t2)^2*cos(t4)*cos(t5)*cos(t6)*sin(t1)*sin(t3) + 50*Py*cos(t1)*cos(t4)*cos(t5)
*cos(t6)*sin(t2)^2*sin(t3) - 50*Pz*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t1)^2*sin(t2) +
50*Px*cos(t1)*cos(t2)*cos(t3)*sin(t4)*sin(t5)^2*sin(t6) - 50*Px*cos(t1)*cos(t2)*cos(t6)
*sin(t3)*sin(t4)^2*sin(t5) + 50*Px*cos(t1)*cos(t5)*cos(t6)*sin(t2)*sin(t3)^2*sin(t4) -
50*Px*cos(t4)*cos(t5)*cos(t6)*sin(t1)*sin(t2)^2*sin(t3) + 50*Py*cos(t2)*cos(t3)*cos(t5)
^2*sin(t1)*sin(t4)*sin(t6) - 50*Py*cos(t2)*cos(t4)^2*cos(t6)*sin(t1)*sin(t3)*sin(t5) +
50*Py*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)*sin(t2)*sin(t4) + 50*Py*cos(t2)*cos(t3)*sin(t1)
*sin(t4)*sin(t5)^2*sin(t6) - 50*Py*cos(t2)*cos(t6)*sin(t1)*sin(t3)*sin(t4)^2*sin(t5) +
50*Py*cos(t5)*cos(t6)*sin(t1)*sin(t2)*sin(t3)^2*sin(t4) + 50*Py*cos(t1)*cos(t2)^2*cos
(t3)*cos(t4)^2*cos(t6)*sin(t5) + 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin
(t4) - 50*Px*cos(t1)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t2)*sin(t6) - 50*Px*cos(t2)^2*cos
(t3)*cos(t4)^2*cos(t6)*sin(t1)*sin(t5) + 50*Py*cos(t1)*cos(t3)*cos(t4)^2*cos(t6)*sin
(t2)^2*sin(t5) + 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t6)*sin(t4)^2*sin(t5) + 50*Pz*cos
(t2)*cos(t3)^2*cos(t5)*cos(t6)*sin(t1)^2*sin(t4) + 50*Pz*cos(t1)^2*cos(t2)*cos(t5)*cos
(t6)*sin(t3)^2*sin(t4) - 50*Px*cos(t1)*cos(t4)*cos(t5)^2*sin(t2)*sin(t3)^2*sin(t6) -
50*Px*cos(t1)*cos(t3)^2*cos(t4)*sin(t2)*sin(t5)^2*sin(t6) - 50*Px*cos(t3)*cos(t4)^2*cos
(t6)*sin(t1)*sin(t2)^2*sin(t5) - 50*Px*cos(t2)^2*cos(t3)*cos(t6)*sin(t1)*sin(t4)^2*sin
(t5) + 50*Py*cos(t1)*cos(t3)*cos(t6)*sin(t2)^2*sin(t4)^2*sin(t5) + 50*Py*cos(t1)*cos
(t2)^2*cos(t5)^2*sin(t3)*sin(t4)*sin(t6) - 50*Py*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)
*sin(t2)*sin(t6) + 50*Pz*cos(t2)*cos(t5)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4) -
50*Pz*cos(t1)^2*cos(t3)*cos(t5)^2*sin(t2)*sin(t4)*sin(t6) + 50*Pz*cos(t1)^2*cos(t4)
^2*cos(t6)*sin(t2)*sin(t3)*sin(t5) - 50*Px*cos(t1)*cos(t4)*sin(t2)*sin(t3)^2*sin(t5)
^2*sin(t6) - 50*Px*cos(t3)*cos(t6)*sin(t1)*sin(t2)^2*sin(t4)^2*sin(t5) - 50*Px*cos(t2)
^2*cos(t5)^2*sin(t1)*sin(t3)*sin(t4)*sin(t6) + 50*Py*cos(t1)*cos(t2)^2*sin(t3)*sin(t4)
*sin(t5)^2*sin(t6) + 50*Py*cos(t1)*cos(t5)^2*sin(t2)^2*sin(t3)*sin(t4)*sin(t6) -
50*Py*cos(t4)*cos(t5)^2*sin(t1)*sin(t2)*sin(t3)^2*sin(t6) - 50*Py*cos(t3)^2*cos(t4)*sin
(t1)*sin(t2)*sin(t5)^2*sin(t6) - 50*Pz*cos(t3)*cos(t5)^2*sin(t1)^2*sin(t2)*sin(t4)*sin
(t6) - 50*Pz*cos(t1)^2*cos(t3)*sin(t2)*sin(t4)*sin(t5)^2*sin(t6) + 50*Pz*cos(t1)^2*cos
(t6)*sin(t2)*sin(t3)*sin(t4)^2*sin(t5) + 50*Pz*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t2)*sin
(t3)*sin(t5) + 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*cos(t5)*cos(t6) - 50*Px*cos(t2)
^2*sin(t1)*sin(t3)*sin(t4)*sin(t5)^2*sin(t6) - 50*Px*cos(t5)^2*sin(t1)*sin(t2)^2*sin
(t3)*sin(t4)*sin(t6) + 50*Py*cos(t1)*sin(t2)^2*sin(t3)*sin(t4)*sin(t5)^2*sin(t6) -
50*Py*cos(t4)*sin(t1)*sin(t2)*sin(t3)^2*sin(t5)^2*sin(t6) - 50*Pz*cos(t3)*sin(t1)^2*sin
(t2)*sin(t4)*sin(t5)^2*sin(t6) + 50*Pz*cos(t6)*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin
(t5) + 50*Py*cos(t2)*cos(t3)*cos(t4)*cos(t5)*cos(t6)*sin(t1) - 50*Px*sin(t1)*sin(t2)
^2*sin(t3)*sin(t4)*sin(t5)^2*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos
(t5)^2*sin(t6) - 50*Pz*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*sin(t1)^2*sin(t6) -
50*Pz*cos(t1)^2*cos(t2)*cos(t4)*cos(t5)^2*sin(t3)^2*sin(t6) - 50*Pz*cos(t1)^2*cos(t2)
*cos(t3)^2*cos(t4)*sin(t5)^2*sin(t6))/(50*(cos(t1)^2 + sin(t1)^2)*(cos(t2)^2 + sin(t2)
^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos(t5)^2 + sin(t5)^2)*(cos(t6)^2
+ sin(t6)^2))]
[ 0, 1, 0,
-(17*cos(t1)^2*cos(t3)*cos(t4)*sin(t2)*sin(t5) - 20*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin
(t4)*sin(t5) + 17*cos(t3)*cos(t4)*sin(t1)^2*sin(t2)*sin(t5) - 17*cos(t1)^2*cos(t2)*cos
(t3)^2*sin(t4)*sin(t5) + 17*cos(t1)^2*cos(t4)^2*cos(t5)*sin(t2)*sin(t3) - 17*cos(t2)
*cos(t3)^2*sin(t1)^2*sin(t4)*sin(t5) - 17*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4)*sin(t5) +
17*cos(t1)^2*cos(t5)*sin(t2)*sin(t3)*sin(t4)^2 + 17*cos(t4)^2*cos(t5)*sin(t1)^2*sin(t2)
*sin(t3) - 17*cos(t2)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) + 17*cos(t5)*sin(t1)^2*sin
(t2)*sin(t3)*sin(t4)^2 - 20*cos(t1)^2*cos(t2)^2*cos(t3)^2*sin(t4)*sin(t5) - 20*cos(t1)
^2*cos(t2)^2*sin(t3)^2*sin(t4)*sin(t5) - 20*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4)*sin
(t5) - 20*cos(t2)^2*cos(t3)^2*sin(t1)^2*sin(t4)*sin(t5) - 20*cos(t1)^2*sin(t2)^2*sin
(t3)^2*sin(t4)*sin(t5) - 20*cos(t2)^2*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) - 20*cos(t3)
^2*sin(t1)^2*sin(t2)^2*sin(t4)*sin(t5) + 50*Py*cos(t2)*cos(t3)*cos(t4)*sin(t1)*sin(t5)
+ 50*Px*cos(t1)*cos(t2)*cos(t4)^2*cos(t5)*sin(t3) + 50*Px*cos(t1)*cos(t2)*cos(t5)*sin
(t3)*sin(t4)^2 + 50*Py*cos(t1)*cos(t2)^2*cos(t4)*sin(t3)*sin(t5) + 50*Py*cos(t2)*cos
(t4)^2*cos(t5)*sin(t1)*sin(t3) - 50*Pz*cos(t1)^2*cos(t3)*cos(t4)*sin(t2)*sin(t5) +
50*Px*cos(t1)*cos(t3)^2*sin(t2)*sin(t4)*sin(t5) - 50*Px*cos(t2)^2*cos(t4)*sin(t1)*sin
(t3)*sin(t5) + 50*Py*cos(t1)*cos(t4)*sin(t2)^2*sin(t3)*sin(t5) + 50*Py*cos(t2)*cos(t5)
*sin(t1)*sin(t3)*sin(t4)^2 - 50*Pz*cos(t3)*cos(t4)*sin(t1)^2*sin(t2)*sin(t5) +
50*Px*cos(t1)*sin(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Px*cos(t4)*sin(t1)*sin(t2)^2*sin
(t3)*sin(t5) + 50*Py*cos(t3)^2*sin(t1)*sin(t2)*sin(t4)*sin(t5) + 50*Py*sin(t1)*sin(t2)
*sin(t3)^2*sin(t4)*sin(t5) - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t4)^2*cos(t5) +
50*Px*cos(t2)^2*cos(t3)*cos(t4)^2*cos(t5)*sin(t1) - 50*Py*cos(t1)*cos(t3)*cos(t4)^2*cos
(t5)*sin(t2)^2 - 50*Py*cos(t1)*cos(t2)^2*cos(t3)*cos(t5)*sin(t4)^2 + 50*Px*cos(t3)*cos
(t4)^2*cos(t5)*sin(t1)*sin(t2)^2 + 50*Px*cos(t2)^2*cos(t3)*cos(t5)*sin(t1)*sin(t4)^2 -
50*Py*cos(t1)*cos(t3)*cos(t5)*sin(t2)^2*sin(t4)^2 + 50*Pz*cos(t1)^2*cos(t2)*cos(t3)
^2*sin(t4)*sin(t5) - 50*Pz*cos(t1)^2*cos(t4)^2*cos(t5)*sin(t2)*sin(t3) + 50*Px*cos(t3)
*cos(t5)*sin(t1)*sin(t2)^2*sin(t4)^2 + 50*Pz*cos(t2)*cos(t3)^2*sin(t1)^2*sin(t4)*sin
(t5) + 50*Pz*cos(t1)^2*cos(t2)*sin(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos(t1)^2*cos(t5)*sin
(t2)*sin(t3)*sin(t4)^2 - 50*Pz*cos(t4)^2*cos(t5)*sin(t1)^2*sin(t2)*sin(t3) + 50*Pz*cos
(t2)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t5) - 50*Pz*cos(t5)*sin(t1)^2*sin(t2)*sin(t3)*sin
(t4)^2 + 50*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)*sin(t5))/(50*(cos(t1)^2 + sin(t1)^2)*
(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos(t5)^2 +
sin(t5)^2))]
[ 0, 0, 1, -(63*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2 + 200*cos
(t1)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t2)^2*sin(t3)^2 + 200*cos(t1)^2*cos(t2)^2*cos(t4)
*cos(t6)*sin(t3)^2*sin(t5)^2 + 200*cos(t1)^2*cos(t3)^2*cos(t4)*cos(t6)*sin(t2)^2*sin
(t5)^2 + 200*cos(t2)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2 + 200*cos(t2)
^2*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)^2*sin(t5)^2 + 200*cos(t3)^2*cos(t4)*cos(t5)^2*cos
(t6)*sin(t1)^2*sin(t2)^2 + 200*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2
+ 200*cos(t1)^2*cos(t4)*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t5)^2 + 200*cos(t2)^2*cos(t4)
*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t5)^2 + 200*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)^2*sin
(t2)^2*sin(t5)^2 + 200*cos(t4)*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2 +
200*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6) + 170*cos(t1)^2*cos(t2)
*cos(t3)^2*cos(t5)*sin(t4)*sin(t6) + 170*cos(t1)^2*cos(t3)*cos(t5)^2*cos(t6)*sin(t2)
*sin(t4) + 200*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t6)*sin(t5)^2 + 200*cos(t1)
^2*cos(t2)^2*cos(t3)^2*cos(t5)^2*cos(t6)*sin(t4)^2 + 200*cos(t1)^2*cos(t2)^2*cos(t4)
^2*cos(t5)^2*cos(t6)*sin(t3)^2 + 200*cos(t1)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6)
*sin(t2)^2 + 200*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t1)^2 + 170*cos
(t2)*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4)*sin(t6) + 170*cos(t3)*cos(t5)^2*cos(t6)*sin
(t1)^2*sin(t2)*sin(t4) + 170*cos(t1)^2*cos(t2)*cos(t5)*sin(t3)^2*sin(t4)*sin(t6) +
170*cos(t1)^2*cos(t3)*cos(t6)*sin(t2)*sin(t4)*sin(t5)^2 + 200*cos(t1)^2*cos(t2)^2*cos
(t3)^2*cos(t6)*sin(t4)^2*sin(t5)^2 + 200*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t6)*sin(t3)
^2*sin(t5)^2 + 200*cos(t1)^2*cos(t2)^2*cos(t5)^2*cos(t6)*sin(t3)^2*sin(t4)^2 + 200*cos
(t1)^2*cos(t3)^2*cos(t4)^2*cos(t6)*sin(t2)^2*sin(t5)^2 + 200*cos(t1)^2*cos(t3)^2*cos
^2*sin(t3)^2 + 200*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t5)^2 + 200*cos
(t2)^2*cos(t3)^2*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t4)^2 + 200*cos(t2)^2*cos(t4)^2*cos
^2*sin(t2)^2 + 170*cos(t2)*cos(t5)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t6) + 170*cos(t3)
*cos(t6)*sin(t1)^2*sin(t2)*sin(t4)*sin(t5)^2 + 170*cos(t1)^2*cos(t4)^2*sin(t2)*sin(t3)
*sin(t5)*sin(t6) + 200*cos(t1)^2*cos(t2)^2*cos(t6)*sin(t3)^2*sin(t4)^2*sin(t5)^2 +
^2*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t5)^2 + 200*cos(t1)^2*cos(t5)^2*cos(t6)*sin(t2)
^2*sin(t3)^2*sin(t4)^2 + 200*cos(t2)^2*cos(t3)^2*cos(t6)*sin(t1)^2*sin(t4)^2*sin(t5)^2
+ 200*cos(t2)^2*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t5)^2 + 200*cos(t2)^2*cos(t5)
^2*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4)^2 + 200*cos(t3)^2*cos(t4)^2*cos(t6)*sin(t1)
^2*sin(t2)^2*sin(t5)^2 + 200*cos(t3)^2*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t4)^2
+ 200*cos(t4)^2*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2 + 170*cos(t1)^2*sin(t2)
*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) + 170*cos(t4)^2*sin(t1)^2*sin(t2)*sin(t3)*sin(t5)
*sin(t6) + 200*cos(t1)^2*cos(t6)*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2 + 200*cos(t2)
^2*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2 + 200*cos(t3)^2*cos(t6)*sin(t1)
^2*sin(t2)^2*sin(t4)^2*sin(t5)^2 + 200*cos(t4)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)
^2*sin(t5)^2 + 200*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2 + 170*cos
(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6) + 170*sin(t1)^2*sin(t2)*sin(t3)*sin
(t4)^2*sin(t5)*sin(t6) + 200*cos(t6)*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2
+ 170*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2 + 170*cos(t1)^2*cos(t2)*cos
(t4)*cos(t5)^2*cos(t6)*sin(t3)^2 + 170*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t6)*sin
(t5)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)^2*cos(t6)^2 + 170*cos(t2)
*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2*sin(t3)^2 + 170*cos(t2)*cos(t3)^2*cos(t4)*cos(t6)
*sin(t1)^2*sin(t5)^2 + 170*cos(t1)^2*cos(t2)*cos(t4)*cos(t6)*sin(t3)^2*sin(t5)^2 +
200*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t5)*sin(t4)*sin(t6) + 63*cos(t1)^2*cos(t2)^2*cos
(t3)^2*cos(t4)^2*cos(t5)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos
(t6)^2*sin(t5)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t5)^2*cos(t6)^2*sin(t4)^2 +
63*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t5)^2*cos(t6)^2*sin(t3)^2 + 63*cos(t1)^2*cos(t3)
^2*cos(t4)^2*cos(t5)^2*cos(t6)^2*sin(t2)^2 + 63*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t5)
^2*cos(t6)^2*sin(t1)^2 + 170*cos(t2)*cos(t4)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t5)^2 +
200*cos(t1)^2*cos(t2)^2*cos(t5)*sin(t3)^2*sin(t4)*sin(t6) + 200*cos(t1)^2*cos(t3)^2*cos
(t5)*sin(t2)^2*sin(t4)*sin(t6) + 200*cos(t2)^2*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t4)*sin
(t6) + 63*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t1)
^2*cos(t2)^2*cos(t3)^2*cos(t5)^2*sin(t4)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t3)
^2*cos(t6)^2*sin(t4)^2*sin(t5)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t5)^2*sin(t3)
^2*sin(t6)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t4)^2*cos(t6)^2*sin(t3)^2*sin(t5)^2 + 63*cos
(t1)^2*cos(t2)^2*cos(t5)^2*cos(t6)^2*sin(t3)^2*sin(t4)^2 + 63*cos(t1)^2*cos(t3)^2*cos
(t4)^2*cos(t5)^2*sin(t2)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t3)^2*cos(t4)^2*cos(t6)^2*sin
(t2)^2*sin(t5)^2 + 63*cos(t1)^2*cos(t3)^2*cos(t5)^2*cos(t6)^2*sin(t2)^2*sin(t4)^2 +
63*cos(t1)^2*cos(t4)^2*cos(t5)^2*cos(t6)^2*sin(t2)^2*sin(t3)^2 + 63*cos(t2)^2*cos(t3)
^2*cos(t4)^2*cos(t5)^2*sin(t1)^2*sin(t6)^2 + 63*cos(t2)^2*cos(t3)^2*cos(t4)^2*cos(t6)
^2*sin(t1)^2*sin(t5)^2 + 63*cos(t2)^2*cos(t3)^2*cos(t5)^2*cos(t6)^2*sin(t1)^2*sin(t4)^2
+ 63*cos(t2)^2*cos(t4)^2*cos(t5)^2*cos(t6)^2*sin(t1)^2*sin(t3)^2 + 63*cos(t3)^2*cos(t4)
^2*cos(t5)^2*cos(t6)^2*sin(t1)^2*sin(t2)^2 + 200*cos(t1)^2*cos(t5)*sin(t2)^2*sin(t3)
^2*sin(t4)*sin(t6) + 200*cos(t2)^2*cos(t5)*sin(t1)^2*sin(t3)^2*sin(t4)*sin(t6) +
200*cos(t3)^2*cos(t5)*sin(t1)^2*sin(t2)^2*sin(t4)*sin(t6) + 63*cos(t1)^2*cos(t2)^2*cos
(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t4)^2*sin(t3)^2*sin
(t5)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t2)^2*cos(t5)^2*sin(t3)^2*sin(t4)^2*sin(t6)^2 +
63*cos(t1)^2*cos(t2)^2*cos(t6)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2 + 63*cos(t1)^2*cos(t3)
^2*cos(t4)^2*sin(t2)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t3)^2*cos(t5)^2*sin(t2)
^2*sin(t4)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t3)^2*cos(t6)^2*sin(t2)^2*sin(t4)^2*sin(t5)^2
+ 63*cos(t1)^2*cos(t4)^2*cos(t5)^2*sin(t2)^2*sin(t3)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t4)
+ 63*cos(t4)^2*cos(t5)^2*cos(t6)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2 + 200*cos(t5)*sin(t1)
^2*sin(t2)^2*sin(t3)^2*sin(t4)*sin(t6) + 63*cos(t1)^2*cos(t2)^2*sin(t3)^2*sin(t4)^2*sin
(t5)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t3)^2*sin(t2)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2 +
63*cos(t1)^2*cos(t4)^2*sin(t2)^2*sin(t3)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t5)
^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t6)^2 + 63*cos(t1)^2*cos(t6)^2*sin(t2)^2*sin(t3)
^2*sin(t4)^2*sin(t5)^2 + 63*cos(t2)^2*cos(t3)^2*sin(t1)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2
+ 63*cos(t2)^2*cos(t4)^2*sin(t1)^2*sin(t3)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t2)^2*cos(t5)
+ 63*cos(t3)^2*cos(t5)^2*sin(t1)^2*sin(t2)^2*sin(t4)^2*sin(t6)^2 + 63*cos(t3)^2*cos(t6)
+ 63*cos(t5)^2*cos(t6)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2 + 200*cos(t1)^2*cos
(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6) - 170*cos(t1)^2*cos(t3)*cos(t4)*cos(t5)*sin
(t2)*sin(t6) + 63*cos(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2 + 63*cos
(t2)^2*sin(t1)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t3)^2*sin(t1)^2*sin
(t2)^2*sin(t4)^2*sin(t5)^2*sin(t6)^2 + 63*cos(t4)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin
(t5)^2*sin(t6)^2 + 63*cos(t5)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t6)^2 +
63*cos(t6)^2*sin(t1)^2*sin(t2)^2*sin(t3)^2*sin(t4)^2*sin(t5)^2 + 200*cos(t1)^2*cos(t2)
^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t3)^2 + 200*cos(t1)^2*cos(t2)^2*cos(t3)^2*cos(t4)*cos
(t6)*sin(t5)^2 + 200*cos(t1)^2*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t2)^2 + 200*cos
(t2)^2*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)^2 - 170*cos(t3)*cos(t4)*cos(t5)*sin
(t1)^2*sin(t2)*sin(t6) - 500*Pz*cos(t2)*cos(t4)*cos(t6)*sin(t1)^2*sin(t3)^2*sin(t5)^2 +
500*Px*cos(t1)*cos(t2)*cos(t3)*cos(t5)^2*cos(t6)*sin(t4) + 500*Px*cos(t1)*cos(t2)*cos
(t3)*cos(t6)*sin(t4)*sin(t5)^2 - 500*Py*cos(t1)*cos(t2)^2*cos(t4)*cos(t5)*sin(t3)*sin
(t6) + 500*Py*cos(t2)*cos(t3)*cos(t5)^2*cos(t6)*sin(t1)*sin(t4) + 500*Pz*cos(t1)^2*cos
(t3)*cos(t4)*cos(t5)*sin(t2)*sin(t6) + 500*Px*cos(t1)*cos(t2)*cos(t4)^2*sin(t3)*sin(t5)
*sin(t6) - 500*Px*cos(t1)*cos(t3)^2*cos(t5)*sin(t2)*sin(t4)*sin(t6) + 500*Px*cos(t2)
^2*cos(t4)*cos(t5)*sin(t1)*sin(t3)*sin(t6) - 500*Py*cos(t1)*cos(t4)*cos(t5)*sin(t2)
^2*sin(t3)*sin(t6) + 500*Py*cos(t2)*cos(t3)*cos(t6)*sin(t1)*sin(t4)*sin(t5)^2 +
500*Pz*cos(t3)*cos(t4)*cos(t5)*sin(t1)^2*sin(t2)*sin(t6) + 500*Px*cos(t1)*cos(t2)*sin
(t3)*sin(t4)^2*sin(t5)*sin(t6) - 500*Px*cos(t1)*cos(t5)*sin(t2)*sin(t3)^2*sin(t4)*sin
(t6) + 500*Px*cos(t4)*cos(t5)*sin(t1)*sin(t2)^2*sin(t3)*sin(t6) + 500*Py*cos(t2)*cos
(t4)^2*sin(t1)*sin(t3)*sin(t5)*sin(t6) - 500*Py*cos(t3)^2*cos(t5)*sin(t1)*sin(t2)*sin
(t4)*sin(t6) + 500*Py*cos(t2)*sin(t1)*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) - 500*Py*cos
(t5)*sin(t1)*sin(t2)*sin(t3)^2*sin(t4)*sin(t6) - 500*Px*cos(t1)*cos(t3)^2*cos(t4)*cos
(t5)^2*cos(t6)*sin(t2) - 500*Px*cos(t1)*cos(t4)*cos(t5)^2*cos(t6)*sin(t2)*sin(t3)^2 -
500*Px*cos(t1)*cos(t3)^2*cos(t4)*cos(t6)*sin(t2)*sin(t5)^2 - 500*Py*cos(t1)*cos(t2)
^2*cos(t3)*cos(t4)^2*sin(t5)*sin(t6) + 500*Py*cos(t1)*cos(t2)^2*cos(t5)^2*cos(t6)*sin
(t3)*sin(t4) - 500*Py*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)*sin(t2) - 500*Pz*cos
(t1)^2*cos(t2)*cos(t3)^2*cos(t5)*sin(t4)*sin(t6) - 500*Pz*cos(t1)^2*cos(t3)*cos(t5)
^2*cos(t6)*sin(t2)*sin(t4) - 500*Px*cos(t1)*cos(t4)*cos(t6)*sin(t2)*sin(t3)^2*sin(t5)^2
+ 500*Px*cos(t2)^2*cos(t3)*cos(t4)^2*sin(t1)*sin(t5)*sin(t6) - 500*Px*cos(t2)^2*cos(t5)
^2*cos(t6)*sin(t1)*sin(t3)*sin(t4) - 500*Py*cos(t1)*cos(t3)*cos(t4)^2*sin(t2)^2*sin(t5)
*sin(t6) - 500*Py*cos(t1)*cos(t2)^2*cos(t3)*sin(t4)^2*sin(t5)*sin(t6) + 500*Py*cos(t1)
*cos(t2)^2*cos(t6)*sin(t3)*sin(t4)*sin(t5)^2 + 500*Py*cos(t1)*cos(t5)^2*cos(t6)*sin(t2)
^2*sin(t3)*sin(t4) - 500*Py*cos(t4)*cos(t5)^2*cos(t6)*sin(t1)*sin(t2)*sin(t3)^2 -
500*Py*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)*sin(t2)*sin(t5)^2 - 500*Pz*cos(t2)*cos(t3)
^2*cos(t5)*sin(t1)^2*sin(t4)*sin(t6) - 500*Pz*cos(t3)*cos(t5)^2*cos(t6)*sin(t1)^2*sin
(t2)*sin(t4) - 500*Pz*cos(t1)^2*cos(t2)*cos(t5)*sin(t3)^2*sin(t4)*sin(t6) - 500*Pz*cos
(t1)^2*cos(t3)*cos(t6)*sin(t2)*sin(t4)*sin(t5)^2 + 500*Px*cos(t3)*cos(t4)^2*sin(t1)*sin
(t2)^2*sin(t5)*sin(t6) + 500*Px*cos(t2)^2*cos(t3)*sin(t1)*sin(t4)^2*sin(t5)*sin(t6) -
500*Px*cos(t2)^2*cos(t6)*sin(t1)*sin(t3)*sin(t4)*sin(t5)^2 - 500*Px*cos(t5)^2*cos(t6)
*sin(t1)*sin(t2)^2*sin(t3)*sin(t4) - 500*Py*cos(t1)*cos(t3)*sin(t2)^2*sin(t4)^2*sin(t5)
*sin(t6) + 500*Py*cos(t1)*cos(t6)*sin(t2)^2*sin(t3)*sin(t4)*sin(t5)^2 - 500*Py*cos(t4)
*cos(t6)*sin(t1)*sin(t2)*sin(t3)^2*sin(t5)^2 - 500*Pz*cos(t2)*cos(t5)*sin(t1)^2*sin(t3)
^2*sin(t4)*sin(t6) - 500*Pz*cos(t3)*cos(t6)*sin(t1)^2*sin(t2)*sin(t4)*sin(t5)^2 -
500*Pz*cos(t1)^2*cos(t4)^2*sin(t2)*sin(t3)*sin(t5)*sin(t6) + 500*Px*cos(t3)*sin(t1)*sin
(t2)^2*sin(t4)^2*sin(t5)*sin(t6) - 500*Px*cos(t6)*sin(t1)*sin(t2)^2*sin(t3)*sin(t4)*sin
(t5)^2 - 500*Pz*cos(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) - 500*Pz*cos(t4)
^2*sin(t1)^2*sin(t2)*sin(t3)*sin(t5)*sin(t6) - 500*Px*cos(t1)*cos(t2)*cos(t3)*cos(t4)
*cos(t5)*sin(t6) - 500*Pz*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6) -
500*Pz*sin(t1)^2*sin(t2)*sin(t3)*sin(t4)^2*sin(t5)*sin(t6) - 500*Py*cos(t2)*cos(t3)*cos
(t4)*cos(t5)*sin(t1)*sin(t6) - 500*Pz*cos(t2)*cos(t3)^2*cos(t4)*cos(t5)^2*cos(t6)*sin
(t1)^2 - 500*Pz*cos(t1)^2*cos(t2)*cos(t4)*cos(t5)^2*cos(t6)*sin(t3)^2 - 500*Pz*cos(t1)
^2*cos(t2)*cos(t3)^2*cos(t4)*cos(t6)*sin(t5)^2 - 500*Pz*cos(t2)*cos(t4)*cos(t5)^2*cos
(t6)*sin(t1)^2*sin(t3)^2 - 500*Pz*cos(t2)*cos(t3)^2*cos(t4)*cos(t6)*sin(t1)^2*sin(t5)^2
- 500*Pz*cos(t1)^2*cos(t2)*cos(t4)*cos(t6)*sin(t3)^2*sin(t5)^2)/(500*(cos(t1)^2 + sin
(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos

(t5)^2 + sin(t5)^2)*(cos(t6)^2 + sin(t6)^2))]
[ 0, 0, 0,
1]
Tb =
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
>>

MATLAB Command Window

Uploaded by

Copyright:

Available Formats

You might also like

MATLAB Command Window

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MATLAB Command Window

Uploaded by

Copyright:

Available Formats

MATLAB Command Window Page 1

la matrice de transformation de 1 a 7 par inverse:

[ cos(t2)*cos(t3)*sin(t4)*sin(t6) - cos(t4)*sin(t2)*sin(t6) - cos(t2)*cos(t6)*sin(t3)

cos(t3)*cos(t4)*cos(t5)*sin(t2)*sin(t6) - cos(t3)*cos(t6)*sin(t2)*sin(t4) - cos(t2)*cos

la matrice de transformation de 1 a 7 par multiplication:

[ cos(t6)*(cos(t5)*(sin(t2)*sin(t4) + cos(t2)*cos(t3)*cos(t4)) - cos(t2)*sin(t3)*sin

la matrice de transformation de 2 a 7 par inverse:

[ cos(t3)*sin(t4)*sin(t6) - cos(t6)*sin(t3)*sin(t5) + cos(t3)*cos(t4)*cos(t5)*cos(t6),

la matrice de transformation de 2 a 7 par multiplication:

[ cos(t3)*sin(t4)*sin(t6) - cos(t6)*(sin(t3)*sin(t5) - cos(t3)*cos(t4)*cos(t5)), - cos

la matrice de transformation de 3 a 7 par inverse:

[ sin(t4)*sin(t6) + cos(t4)*cos(t5)*cos(t6), -cos(t4)*sin(t5), cos(t4)*cos(t5)*sin(t6)

la matrice de transformation de 3 a 7 par multiplication:

[ sin(t4)*sin(t6) + cos(t4)*cos(t5)*cos(t6), -cos(t4)*sin(t5), cos(t4)*cos(t5)*sin(t6)

la matrice de transformation de 4 a 7 par inverse:

[ cos(t5)*cos(t6), -sin(t5), cos(t5)*sin(t6), -(20*cos(t1)^2*sin(t2)^2*sin(t3)^2*sin

la matrice de transformation de 4 a 7 par multiplication:

[ cos(t5)*cos(t6), -sin(t5), cos(t5)*sin(t6), (63*cos(t5)*sin(t6))/500]

la matrice de transformation de 5 a 7 par inverse:

[ cos(t6), 0, sin(t6), -(17*cos(t1)^2*cos(t2)*cos(t3)^2*cos(t5)*sin(t4) - 17*cos(t3)

*sin(t4) + 50*Py*cos(t1)*sin(t2)^2*sin(t3)*sin(t4) - 50*Py*cos(t4)*sin(t1)*sin(t2)*sin

la matrice de transformation de 5 a 7 par multiplication:

[ cos(t6), 0, sin(t6), (63*sin(t6))/500]

la matrice de transformation de 6 a 7 par inverse:

*sin(t3)*sin(t6) + 50*Py*cos(t2)*cos(t3)*cos(t5)^2*cos(t6)*sin(t1)*sin(t4) + 50*Pz*cos

la matrice de transformation de 6 a 7 par multiplication:

la matrice de transformation de 7 a 7 par inverse:

(t1)^2)*(cos(t2)^2 + sin(t2)^2)*(cos(t3)^2 + sin(t3)^2)*(cos(t4)^2 + sin(t4)^2)*(cos

la matrice de transformation de 7 a 7 par multiplication:

You might also like

[ cos(t2)cos(t3)sin(t4)sin(t6) - cos(t4)sin(t2)sin(t6) - cos(t2)cos(t6)*sin(t3)

cos(t3)cos(t4)cos(t5)sin(t2)sin(t6) - cos(t3)cos(t6)sin(t2)sin(t4) - cos(t2)cos

[ cos(t6)(cos(t5)(sin(t2)sin(t4) + cos(t2)cos(t3)cos(t4)) - cos(t2)sin(t3)*sin

[ cos(t3)sin(t4)sin(t6) - cos(t6)sin(t3)sin(t5) + cos(t3)cos(t4)cos(t5)*cos(t6),

[ cos(t3)sin(t4)sin(t6) - cos(t6)(sin(t3)sin(t5) - cos(t3)cos(t4)cos(t5)), - cos

[ sin(t4)sin(t6) + cos(t4)cos(t5)cos(t6), -cos(t4)sin(t5), cos(t4)cos(t5)sin(t6)

[ sin(t4)sin(t6) + cos(t4)cos(t5)cos(t6), -cos(t4)sin(t5), cos(t4)cos(t5)sin(t6)

[ cos(t5)cos(t6), -sin(t5), cos(t5)sin(t6), -(20cos(t1)^2sin(t2)^2sin(t3)^2sin

[ cos(t5)cos(t6), -sin(t5), cos(t5)sin(t6), (63cos(t5)sin(t6))/500]

[ cos(t6), 0, sin(t6), -(17cos(t1)^2cos(t2)cos(t3)^2cos(t5)sin(t4) - 17cos(t3)

sin(t4) + 50Pycos(t1)sin(t2)^2sin(t3)sin(t4) - 50Pycos(t4)sin(t1)sin(t2)*sin

sin(t3)sin(t6) + 50Pycos(t2)cos(t3)cos(t5)^2cos(t6)sin(t1)sin(t4) + 50Pz*cos

(t1)^2)(cos(t2)^2 + sin(t2)^2)(cos(t3)^2 + sin(t3)^2)(cos(t4)^2 + sin(t4)^2)(cos