1 Mozilla/5.0 (Windows NT 10.0; WOW64; Trident/7.0; rv:11.0) like Gecko /rde/contents/library/ps2img/cgi-bin/eqn2gif.cgi 157.118.206.41 1592200132 2020/06/15 14:48:52 \begin{pmatrix}-\frac{\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+4 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_1}\right) }-4 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+4 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_1}\right) }-4 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_1}\right) }}{16} & \frac{\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-4 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_1}\right) }+4 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-4 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_1}\right) }+4 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_1}\right) }}{16} & -\frac{\cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }}{8} & -\frac{{L_6} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-{L_7} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+{L_6} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_7} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_6} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+{L_7} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-{L_6} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+{L_7} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 {L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 {L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }+2 {L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+2 {L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+{L_6} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-{L_7} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+{L_6} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_7} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_6} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+{L_7} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-{L_6} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+{L_7} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 {L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 {L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }-2 {L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }-2 {L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 {L_6} \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 {L_7} \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 {L_6} \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 {L_7} \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 {L_6} \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 {L_7} \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 {L_6} \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 {L_7} \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+4 {L_4} \sin{\left( {{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-4 {L_5} \cos{\left( {{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+4 {L_4} \sin{\left( {{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-4 {L_5} \cos{\left( {{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-4 {L_3} \sin{\left( {{\theta}_2}+{{\theta}_1}\right) }-4 {L_3} \sin{\left( {{\theta}_2}-{{\theta}_1}\right) }-8 {L_2} \cos{\left( {{\theta}_1}\right) }}{8}\\ \frac{\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-4 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_1}\right) }-4 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-4 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_1}\right) }-4 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_1}\right) }}{16} & \frac{\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+4 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_1}\right) }+4 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+4 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_1}\right) }+4 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_1}\right) }}{16} & -\frac{\sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+\sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-\sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-\sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+\sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }}{8} & \frac{{L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+{L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-{L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-{L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+{L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+{L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+2 {L_6} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }-2 {L_7} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_1}\right) }+2 {L_6} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }-2 {L_7} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_1}\right) }+{L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+{L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-{L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-{L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-{L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+{L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+{L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 {L_6} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }+2 {L_7} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_1}\right) }-2 {L_6} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 {L_7} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_1}\right) }+2 {L_7} \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+2 {L_6} \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-2 {L_7} \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-2 {L_6} \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }+2 {L_7} \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }+2 {L_6} \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}+{{\theta}_1}\right) }-2 {L_7} \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }-2 {L_6} \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}-{{\theta}_1}\right) }+4 {L_5} \sin{\left( {{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }+4 {L_4} \cos{\left( {{\theta}_3}-{{\theta}_2}+{{\theta}_1}\right) }-4 {L_5} \sin{\left( {{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-4 {L_4} \cos{\left( {{\theta}_3}-{{\theta}_2}-{{\theta}_1}\right) }-4 {L_3} \cos{\left( {{\theta}_2}+{{\theta}_1}\right) }+4 {L_3} \cos{\left( {{\theta}_2}-{{\theta}_1}\right) }+8 {L_2} \sin{\left( {{\theta}_1}\right) }}{8}\\ \frac{\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+2 \cos{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }-2 \cos{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }-2 \cos{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+2 \cos{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }}{8} & \frac{\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+2 \sin{\left( {{\theta}_6}+{{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }-2 \sin{\left( {{\theta}_6}-{{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }-2 \sin{\left( {{\theta}_6}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+2 \sin{\left( {{\theta}_6}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }}{8} & -\frac{\sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+\sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+\sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+2 \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }-2 \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }}{4} & \frac{{L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+{L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+{L_7} \sin{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+{L_6} \cos{\left( {{\theta}_5}+{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+{L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+{L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}+{{\theta}_3}-{{\theta}_2}\right) }+{L_7} \sin{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+{L_6} \cos{\left( {{\theta}_5}-{{\theta}_4}-{{\theta}_3}+{{\theta}_2}\right) }+2 {L_7} \sin{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }+2 {L_6} \cos{\left( {{\theta}_5}+{{\theta}_3}-{{\theta}_2}\right) }-2 {L_7} \sin{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }-2 {L_6} \cos{\left( {{\theta}_5}-{{\theta}_3}+{{\theta}_2}\right) }+4 {L_5} \sin{\left( {{\theta}_3}-{{\theta}_2}\right) }+4 {L_4} \cos{\left( {{\theta}_3}-{{\theta}_2}\right) }+4 {L_3} \cos{\left( {{\theta}_2}\right) }+4 {L_1}}{4}\\ 0 & 0 & 0 & 1\end{pmatrix} 2 [画像は表示できません] 変換 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{pmatrix} \end{pmatrix} ! Missing $ inserted. <inserted text> $ l.18 ...L_2} \cos{\left( {{\theta}_1}\right) }}{8} \\% ? ! Emergency stop. <inserted text> $ l.18 ...L_2} \cos{\left( {{\theta}_1}\right) }}{8} \\% 20200615_144846 http://www.mech.tohoku-gakuin.ac.jp/rde/contents/library/ps2img/eqn2gif_online.html Mon Jun 15 14:48:52 2020