请教两个方程求解问题

ssaw0920

1.程序为：
>>syms l1 l2 l3 q1 q3 q4
>> e1=sym('l3*cos(q3)=l1*cos(q1)+l2*cos(q2)-l4*cos(q4)')

>>e2=sym('l3*sin(q3)=l1*sin(q1)+l2*sin(q2)-l4*sin(q4)')
>>q2=solve(e1,e2)
执行结果为：
q2 =
    q1: [2x1 sym]
    q2: [2x1 sym]
2.程序为：
syms l1 l2 l3 l4 h1 h2 q
e1=sym('l1*cos(h1)+l2*cos(h2)-l3*cos(h3)=l4')
e2=sym('l1*sin(h1)+l2*sin(h2)-l3*sin(h3)=0')
e3=sym('l1*cos(h1+q)+l2*cos(h2)-l3*cos(h3+p)=l4')
e4=sym('l1*sin(h1+q)+l2*sin(h2)-l3*sin(h3+p)=0')
[h3,p]=solve(e1,e2,e3,e4)
但是程序在执行的时候一直显示busy，很长时间都没有得到结果

麻烦各位高手帮忙指点一下，谢谢！

[ 本帖最后由 花如月 于 2007-10-6 16:06 编辑 ]

xjzuo

从你的方程来看，很难看出求解符号解会有结果．更重要的是，你连求解的未知数也没有指定．

另：符号计算一般很耗时,并非Matlab的长项.　如果一定要求的话，可试试Mathematica.

ssaw0920

>> q2.q1

ans =

atan((l3*sin(q3)-1/2/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)+4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))+l4*sin(q4))/l1,1/2*(l3^2-2*l3^2*sin(q3)^2+2*l3*cos(q3)*l4*cos(q4)+1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)+4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l4*sin(q4)-2*l3*sin(q3)*l4*sin(q4)-l2^2+l4^2+1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)+4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l3*sin(q3)+l1^2-2*l4^2*sin(q4)^2)/(l3*cos(q3)+l4*cos(q4))/l1)
atan((l3*sin(q3)-1/2/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)-4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))+l4*sin(q4))/l1,1/2*(l3^2-2*l3^2*sin(q3)^2+2*l3*cos(q3)*l4*cos(q4)+1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)-4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l4*sin(q4)-2*l3*sin(q3)*l4*sin(q4)-l2^2+l4^2+1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)-4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l3*sin(q3)+l1^2-2*l4^2*sin(q4)^2)/(l3*cos(q3)+l4*cos(q4))/l1)

ssaw0920

>> q2.q2

ans =

atan(1/2/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)+4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))/l2,-1/2*(1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)+4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l4*sin(q4)-2*l3*sin(q3)*l4*sin(q4)-l2^2-l3^2-2*l3*cos(q3)*l4*cos(q4)-l4^2+1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)+4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l3*sin(q3)+l1^2)/(l3*cos(q3)+l4*cos(q4))/l2)
atan(1/2/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)-4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))/l2,-1/2*(1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)-4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l4*sin(q4)-2*l3*sin(q3)*l4*sin(q4)-l2^2-l3^2-2*l3*cos(q3)*l4*cos(q4)-l4^2+1/(8*l3*sin(q3)*l4*sin(q4)+8*l3*cos(q3)*l4*cos(q4)+4*l4^2+4*l3^2)*(4*l2^2*l3*sin(q3)+4*l3^2*l4*sin(q4)-4*l4*sin(q4)*l1^2+4*l3^3*sin(q3)+4*l4^3*sin(q4)+4*l3*sin(q3)*l4^2+4*l2^2*l4*sin(q4)+8*l3^2*sin(q3)^2*l4*sin(q4)-4*l3*sin(q3)*l1^2+8*l4^2*sin(q4)^2*l3*sin(q3)+8*l3^2*sin(q3)*cos(q3)*l4*cos(q4)+8*l3*cos(q3)*l4^2*cos(q4)*sin(q4)-4*(-l2^4*l4^2-l4^6-7*l4^2*l3^4+2*l4^4*l1^2-l4^2*l1^4-7*l4^4*l3^2+2*l3^4*l1^2-l3^2*l1^4+l4^6*sin(q4)^2+l3^6*sin(q3)^2+4*l3*cos(q3)*l4*cos(q4)*l2^2*l1^2+4*l2^2*l3^3*sin(q3)*l4*sin(q4)+4*l2^2*l3*sin(q3)*l4^3*sin(q4)-4*l2^2*l3^3*sin(q3)^3*l4*sin(q4)-4*l2^2*l3^3*sin(q3)^2*cos(q3)*l4*cos(q4)+4*l4^4*sin(q4)^4*l3^2*sin(q3)^2-4*l3^5*l4*sin(q4)*sin(q3)-l3^6+2*l4^2*l2^2*l1^2+4*l4^2*l3^2*l1^2+2*l3^2*l2^2*l1^2-8*l3^4*l4^2*sin(q4)^2*sin(q3)^2+12*l3^3*l4^3*sin(q4)^3*sin(q3)-2*l4^2*sin(q4)^2*l1^2*l2^2+8*l3^3*cos(q3)*l4*cos(q4)*l1^2+8*l3*cos(q3)*l4^3*cos(q4)*l1^2-2*l3*cos(q3)*l4*cos(q4)*l1^4+8*l3^3*cos(q3)*l4*cos(q4)*l2^2+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l1^2+8*l4^4*sin(q4)^3*l3^2*sin(q3)*cos(q3)*cos(q4)+8*l3^2*cos(q3)^2*l4^2*cos(q4)^2*l2^2+8*l3*cos(q3)*l4^3*cos(q4)*l2^2-2*l3*cos(q3)*l4*cos(q4)*l2^4-2*l2^2*l3^2*sin(q3)^2*l1^2+l2^4*l3^2*sin(q3)^2-2*l2^2*l3^4*sin(q3)^2+5*l3^4*l4^2*sin(q4)^2+6*l3^2*l4^4*sin(q4)^2+l4^2*sin(q4)^2*l1^4-2*l4^4*sin(q4)^2*l1^2+6*l3^4*sin(q3)^2*l4^2-2*l3^4*sin(q3)^2*l1^2-2*l4^4*sin(q4)^2*l2^2+5*l3^2*sin(q3)^2*l4^4+l2^4*l4^2*sin(q4)^2+l3^2*sin(q3)^2*l1^4+8*l2^2*l3^2*sin(q3)*cos(q3)*l4^2*cos(q4)*sin(q4)+4*l3^3*l4*sin(q4)*sin(q3)*l1^2-16*l3^4*l4^2*sin(q4)*sin(q3)*cos(q3)*cos(q4)+12*l3^3*l4^3*sin(q4)^2*cos(q3)*cos(q4)+4*l4^3*sin(q4)*l1^2*l3*sin(q3)-4*l4^3*sin(q4)^3*l1^2*l3*sin(q3)+8*l4^2*sin(q4)*l1^2*l3^2*sin(q3)*cos(q3)*cos(q4)-4*l4^3*sin(q4)^2*l1^2*l3*cos(q3)*cos(q4)+4*l3^2*cos(q3)^2*l4^4*cos(q4)^2*sin(q4)^2+4*l3^5*sin(q3)^2*cos(q3)*l4*cos(q4)-16*l4^4*sin(q4)*l3^2*sin(q3)*cos(q3)*cos(q4)+4*l4^5*sin(q4)^2*l3*cos(q3)*cos(q4)+12*l3^3*sin(q3)^2*l4^3*cos(q3)*cos(q4)-4*l2^2*l4^3*sin(q4)^3*l3*sin(q3)-4*l2^2*l4^3*sin(q4)^2*l3*cos(q3)*cos(q4)-4*l3^3*sin(q3)^3*l4*sin(q4)*l1^2+8*l3^4*sin(q3)^3*l4^2*sin(q4)*cos(q3)*cos(q4)-16*l3^3*sin(q3)^2*l4^3*sin(q4)^2*cos(q3)*cos(q4)-4*l3^3*sin(q3)^2*l1^2*cos(q3)*l4*cos(q4)-16*l3^3*l4^3*sin(q4)*sin(q3)-2*l3^2*l4^2*sin(q4)^2*l2^2+4*l2^2*l3^2*l4^2-l2^4*l3^2+2*l2^2*l3^4+2*l2^2*l4^4+4*l3^4*sin(q3)^2*cos(q3)^2*l4^2*cos(q4)^2-8*l3^3*sin(q3)*cos(q3)^2*l4^3*cos(q4)^2*sin(q4)-2*l3^2*l4^2*sin(q4)^2*l1^2-2*l2^2*l3^2*sin(q3)^2*l4^2+4*l3^5*sin(q3)^3*l4*sin(q4)-4*l4^5*sin(q4)*l3*sin(q3)-8*l4^4*sin(q4)^2*l3^2*sin(q3)^2+4*l4^5*sin(q4)^3*l3*sin(q3)+12*l3^3*sin(q3)^3*l4^3*sin(q4)-2*l3^2*sin(q3)^2*l4^2*l1^2+4*l3^4*sin(q3)^4*l4^2*sin(q4)^2-8*l3^3*sin(q3)^3*l4^3*sin(q4)^3-6*l3^5*cos(q3)*l4*cos(q4)-6*l3*cos(q3)*l4^5*cos(q4)-20*l3^3*cos(q3)*l4^3*cos(q4)-8*l3^4*cos(q3)^2*l4^2*cos(q4)^2-8*l3^2*cos(q3)^2*l4^4*cos(q4)^2)^(1/2))*l3*sin(q3)+l1^2)/(l3*cos(q3)+l4*cos(q4))/l2)

无水1324

这个解也不短哈。要把它写出来基本上不可能了

ssaw0920

是啊，郁闷中，高手请帮忙啊

花如月

先考虑是否可以简化方程，或者减少参数

无水1324

也可以事先把某些参数确定，然后计算化简。

branch

个人看法：这样的方程应该思考一种特定的算法，这种算法可能是理论解，也可能是针对参数的一种近似后的工程运算。不知有没人同意.

xjzuo

老实讲,这个问题本不想再回答的,但看到这么多人回复,我就再说一句吧:
1. 至今LZ没有讲问题背景及参数意义；
2. 至今没有指定求解的变量．
－－－－－－－－－－－－－再讨论有任何意义吗？
－－－－－－－－－－－－－这本身只是一个相当简单没有任何技巧的问题．