<magnify>1</magnify>
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<URI>/rde/contents/library/ps2img/cgi-bin/eqn2gif.cgi</URI>
<REMOTE_ADDR>157.118.205.34</REMOTE_ADDR>
<file_last_modified>1484529543 2017/01/16 10:19: 3</file_last_modified>
<equation>\begin{align*}
\frac{\partial H}{\partial x2} &amp;=
{{{\it \lambda_6}\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,\cos 
 \left({\it x_3}-{\it x_2}\right)\,\left(-{\it l_1}\,{\it l_2}\,
 {\it m_2}\,\sin \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2-
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,u\,\sin {\it x_2}+g\,
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,\cos {\it x_2}\right)+
 {\it l_1}\,{\it l_2}\,{\it m_2}\,\sin \left({\it x_3}-{\it x_2}
 \right)\,\left(-{\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left(
 {\it x_3}-{\it x_2}\right)\,{\it x_6}^2+g\,{\it l_1}\,\left(-
 {\it m_2}-{\it m_1}\right)\,\sin {\it x_2}+{\it l_1}\,\left(-
 {\it m_2}-{\it m_1}\right)\,u\,\cos {\it x_2}\right)+{\it l_1}^3\,
 {\it l_2}\,{\it m_2}\,\left({\it m_2}+{\it m_1}\right)\,\cos \left(
 {\it x_3}-{\it x_2}\right)\,{\it x_5}^2\right)}\over{{\it l_1}^2\,
 {\it l_2}^2\,{\it m_2}^2\,\cos ^2\left({\it x_3}-{\it x_2}\right)-
 {\it l_1}^2\,{\it l_2}^2\,{\it m_2}\,\left({\it m_2}+{\it m_1}
 \right)}}+{{{\it \lambda_5}\,\left({\it l_2}^2\,{\it m_2}\,\left(-
 {\it l_1}\,{\it l_2}\,{\it m_2}\,\sin \left({\it x_3}-{\it x_2}
 \right)\,{\it x_6}^2-{\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,u
 \,\sin {\it x_2}+g\,{\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,
 \cos {\it x_2}\right)-{\it l_1}\,{\it l_2}\,{\it m_2}\,\sin \left(
 {\it x_3}-{\it x_2}\right)\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,
 \sin \left({\it x_3}-{\it x_2}\right)\,{\it x_5}^2-g\,{\it l_2}\,
 {\it m_2}\,\sin {\it x_3}-{\it l_2}\,{\it m_2}\,u\,\cos {\it x_3}
 \right)+{\it l_1}^2\,{\it l_2}^2\,{\it m_2}^2\,\cos ^2\left(
 {\it x_3}-{\it x_2}\right)\,{\it x_5}^2\right)}\over{{\it l_1}^2\,
 {\it l_2}^2\,{\it m_2}\,\left({\it m_2}+{\it m_1}\right)-{\it l_1}^2
 \,{\it l_2}^2\,{\it m_2}^2\,\cos ^2\left({\it x_3}-{\it x_2}\right)
 }}-{{2\,{\it l_1}^2\,{\it l_2}^2\,{\it \lambda_6}\,{\it m_2}^2\,\cos 
 \left({\it x_3}-{\it x_2}\right)\,\sin \left({\it x_3}-{\it x_2}
 \right)\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left({\it x_3}
 -{\it x_2}\right)\,\left(-{\it l_1}\,{\it l_2}\,{\it m_2}\,\cos 
 \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2+g\,{\it l_1}\,\left(-
 {\it m_2}-{\it m_1}\right)\,\sin {\it x_2}+{\it l_1}\,\left(-
 {\it m_2}-{\it m_1}\right)\,u\,\cos {\it x_2}\right)-{\it l_1}^2\,
 \left({\it m_2}+{\it m_1}\right)\,\left({\it l_1}\,{\it l_2}\,
 {\it m_2}\,\sin \left({\it x_3}-{\it x_2}\right)\,{\it x_5}^2-g\,
 {\it l_2}\,{\it m_2}\,\sin {\it x_3}-{\it l_2}\,{\it m_2}\,u\,\cos 
 {\it x_3}\right)\right)}\over{\left({\it l_1}^2\,{\it l_2}^2\,
 {\it m_2}^2\,\cos ^2\left({\it x_3}-{\it x_2}\right)-{\it l_1}^2\,
 {\it l_2}^2\,{\it m_2}\,\left({\it m_2}+{\it m_1}\right)\right)^2}}+
 {{2\,{\it l_1}^2\,{\it l_2}^2\,{\it \lambda_5}\,{\it m_2}^2\,\cos 
 \left({\it x_3}-{\it x_2}\right)\,\sin \left({\it x_3}-{\it x_2}
 \right)\,\left({\it l_2}^2\,{\it m_2}\,\left(-{\it l_1}\,{\it l_2}\,
 {\it m_2}\,\cos \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2+g\,
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,\sin {\it x_2}+
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,u\,\cos {\it x_2}
 \right)-{\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left({\it x_3}-
 {\it x_2}\right)\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,\sin \left(
 {\it x_3}-{\it x_2}\right)\,{\it x_5}^2-g\,{\it l_2}\,{\it m_2}\,
 \sin {\it x_3}-{\it l_2}\,{\it m_2}\,u\,\cos {\it x_3}\right)\right)
 }\over{\left({\it l_1}^2\,{\it l_2}^2\,{\it m_2}\,\left({\it m_2}+
 {\it m_1}\right)-{\it l_1}^2\,{\it l_2}^2\,{\it m_2}^2\,\cos ^2
 \left({\it x_3}-{\it x_2}\right)\right)^2}}-{\it q_2}\,\left(1-{{d
 }\over{d\,{\it x_2}}}\,{\it x_2}\left({\it t_1}\right)\right)\,
 \left({\it x_2}-{\it x_2}\left({\it t_1}\right)\right)
\end{align*}

\begin{align*}
\frac{\partial H}{\partial x_3} &amp;=
{{{\it \lambda_6}\,\left(-{\it l_1}\,{\it l_2}\,{\it m_2}\,\sin 
 \left({\it x_3}-{\it x_2}\right)\,\left(-{\it l_1}\,{\it l_2}\,
 {\it m_2}\,\cos \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2+g\,
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,\sin {\it x_2}+
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,u\,\cos {\it x_2}
 \right)+{\it l_1}^2\,{\it l_2}^2\,{\it m_2}^2\,\cos \left({\it x_3}-
 {\it x_2}\right)\,\sin \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2
 -{\it l_1}^2\,\left({\it m_2}+{\it m_1}\right)\,\left({\it l_1}\,
 {\it l_2}\,{\it m_2}\,\cos \left({\it x_3}-{\it x_2}\right)\,
 {\it x_5}^2+{\it l_2}\,{\it m_2}\,u\,\sin {\it x_3}-g\,{\it l_2}\,
 {\it m_2}\,\cos {\it x_3}\right)\right)}\over{{\it l_1}^2\,{\it l_2}
 ^2\,{\it m_2}^2\,\cos ^2\left({\it x_3}-{\it x_2}\right)-{\it l_1}^2
 \,{\it l_2}^2\,{\it m_2}\,\left({\it m_2}+{\it m_1}\right)}}+{{2\,
 {\it l_1}^2\,{\it l_2}^2\,{\it \lambda_6}\,{\it m_2}^2\,\cos \left(
 {\it x_3}-{\it x_2}\right)\,\sin \left({\it x_3}-{\it x_2}\right)\,
 \left({\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left({\it x_3}-
 {\it x_2}\right)\,\left(-{\it l_1}\,{\it l_2}\,{\it m_2}\,\cos 
 \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2+g\,{\it l_1}\,\left(-
 {\it m_2}-{\it m_1}\right)\,\sin {\it x_2}+{\it l_1}\,\left(-
 {\it m_2}-{\it m_1}\right)\,u\,\cos {\it x_2}\right)-{\it l_1}^2\,
 \left({\it m_2}+{\it m_1}\right)\,\left({\it l_1}\,{\it l_2}\,
 {\it m_2}\,\sin \left({\it x_3}-{\it x_2}\right)\,{\it x_5}^2-g\,
 {\it l_2}\,{\it m_2}\,\sin {\it x_3}-{\it l_2}\,{\it m_2}\,u\,\cos 
 {\it x_3}\right)\right)}\over{\left({\it l_1}^2\,{\it l_2}^2\,
 {\it m_2}^2\,\cos ^2\left({\it x_3}-{\it x_2}\right)-{\it l_1}^2\,
 {\it l_2}^2\,{\it m_2}\,\left({\it m_2}+{\it m_1}\right)\right)^2}}-
 {{2\,{\it l_1}^2\,{\it l_2}^2\,{\it \lambda_5}\,{\it m_2}^2\,\cos 
 \left({\it x_3}-{\it x_2}\right)\,\sin \left({\it x_3}-{\it x_2}
 \right)\,\left({\it l_2}^2\,{\it m_2}\,\left(-{\it l_1}\,{\it l_2}\,
 {\it m_2}\,\cos \left({\it x_3}-{\it x_2}\right)\,{\it x_6}^2+g\,
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,\sin {\it x_2}+
 {\it l_1}\,\left(-{\it m_2}-{\it m_1}\right)\,u\,\cos {\it x_2}
 \right)-{\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left({\it x_3}-
 {\it x_2}\right)\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,\sin \left(
 {\it x_3}-{\it x_2}\right)\,{\it x_5}^2-g\,{\it l_2}\,{\it m_2}\,
 \sin {\it x_3}-{\it l_2}\,{\it m_2}\,u\,\cos {\it x_3}\right)\right)
 }\over{\left({\it l_1}^2\,{\it l_2}^2\,{\it m_2}\,\left({\it m_2}+
 {\it m_1}\right)-{\it l_1}^2\,{\it l_2}^2\,{\it m_2}^2\,\cos ^2
 \left({\it x_3}-{\it x_2}\right)\right)^2}}+{{{\it \lambda_5}\,\left(
 {\it l_1}\,{\it l_2}^3\,{\it m_2}^2\,\sin \left({\it x_3}-{\it x_2}
 \right)\,{\it x_6}^2+{\it l_1}\,{\it l_2}\,{\it m_2}\,\sin \left(
 {\it x_3}-{\it x_2}\right)\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,
 \sin \left({\it x_3}-{\it x_2}\right)\,{\it x_5}^2-g\,{\it l_2}\,
 {\it m_2}\,\sin {\it x_3}-{\it l_2}\,{\it m_2}\,u\,\cos {\it x_3}
 \right)-{\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left({\it x_3}-
 {\it x_2}\right)\,\left({\it l_1}\,{\it l_2}\,{\it m_2}\,\cos \left(
 {\it x_3}-{\it x_2}\right)\,{\it x_5}^2+{\it l_2}\,{\it m_2}\,u\,
 \sin {\it x_3}-g\,{\it l_2}\,{\it m_2}\,\cos {\it x_3}\right)\right)
 }\over{{\it l_1}^2\,{\it l_2}^2\,{\it m_2}\,\left({\it m_2}+
 {\it m_1}\right)-{\it l_1}^2\,{\it l_2}^2\,{\it m_2}^2\,\cos ^2
 \left({\it x_3}-{\it x_2}\right)}}-{\it q_3}\,\left(1-{{d}\over{d\,
 {\it x_3}}}\,{\it x_3}\left({\it t_1}\right)\right)\,\left({\it x_3}
 -{\it x_3}\left({\it t_1}\right)\right)
\end{align*}
</equation>
<file_revision>2</file_revision>
<system_image>[画像は表示できません]</system_image>
<sys_convert>変換</sys_convert>
<sys_message>エラーがありました
使用できないTeXコマンドがありました
\begin{d}
\over
\it
\it
\it
\it
\it
\it
\end
! Extra \right.
l.19  { x_3}}}\,{ x_3}\left({ t_1}\right)\right)
                                                \,\left({ x_3}%
? 
! Emergency stop.
l.19  { x_3}}}\,{ x_3}\left({ t_1}\right)\right)
                                                \,\left({ x_3}%
</sys_message>
<sys_error></sys_error>
<sys_datacode>20170116_101855</sys_datacode>
<referby>http://www.mech.tohoku-gakuin.ac.jp/rde/contents/library/ps2img/eqn2gif_online.html</referby>
<LastModified>Mon Jan 16 10:19:03 2017</LastModified>