function?[M?V?G]=dynamicMVG（qdq）
global?g?;
g=9.8;
M=[17.0817234375+4.87875*cos（q（2））??????0.8151578125+2.439375*cos（q（2））;
???0.8151578125+2.439375*cos（q（2））??????0.8151578125];
V=[-2.439375*sin（q（2））*dq（2）*（2*dq（1）+dq（2））;
	2.439375*sin（q（2））*dq（1）^2];
%%不考慮重力
G=[0;0];
%G=[?g*（19.515*cos（q（1））+2.439375*cos（q（1）+q（2）））;?2.439375*g*cos（q（1）+q（2））];

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----

????.CA....???????367??2018-02-09?14:46??Matlab_Exercise_6A\dynamicMVG.m

????.CA....???????645??2018-02-03?23:30??Matlab_Exercise_6A\Jacobian_Matlab_Exercise_6.m

????.CA....???????382??2018-02-03?23:05??Matlab_Exercise_6A\MatlabExercise6torques.txt

????.CA....?????68684??2018-02-10?11:40??Matlab_Exercise_6A\Matlab_Exercise_6.slx

????.CA....?????61679??2018-02-04?12:44??Matlab_Exercise_6A\Matlab_Exercise_6.slx.r2016a

????.CA....??????8613??2018-02-09?10:36??Matlab_Exercise_6A\Matlab_Exercise_6.slxc

????.CA....????304558??2018-02-10?11:13??Matlab_Exercise_6A\Matlab_Exercise_6A.zip

????.CA....?????40448??2018-02-04?12:37??Matlab_Exercise_6A\Matlab_Exercise_6_acc.mexw64

????.CA....????273196??2018-02-10?10:08??Matlab_Exercise_6A\Matlab_Exercise_6_Exercise_6.6_Dynamic_Jacobian.nb

????.CA....???????715??2018-02-10?11:10??Matlab_Exercise_6A\Matlab_Exercise_6_plot.m

????.CA....????214372??2018-02-04?12:44??Matlab_Exercise_6A\Matlab_Exercise_6_關(guān)節(jié)角+角速度.rar

????.CA....????478115??2018-02-04?12:35??Matlab_Exercise_6A\Matlab_Exercise_6_關(guān)節(jié)角.rar

????.CA....???????227??2018-02-08?09:47??Matlab_Exercise_6A\readme.txt

????.CA....??????4336??2018-02-09?10:36??Matlab_Exercise_6A\slprj\accel\Matlab_Exercise_6\Matlab_Exercise_6_top_vm.bc

????.CA....???????171??2018-02-09?10:36??Matlab_Exercise_6A\slprj\accel\Matlab_Exercise_6\tmwinternal\simulink_cache.xml

????.CA....??????1390??2018-02-09?10:38??Matlab_Exercise_6A\slprj\raccel\Matlab_Exercise_6\build_exception.mat

????.CA....??????3054??2018-02-09?10:38??Matlab_Exercise_6A\slprj\raccel\Matlab_Exercise_6\tmwinternal\Matlab_Exercise_6_TgtConnMgr.mat

????.CA....??????2079??2018-02-09?10:38??Matlab_Exercise_6A\slprj\raccel\Matlab_Exercise_6\tmwinternal\minfo.mat

????.CA....????105472??2018-02-09?10:38??Matlab_Exercise_6A\slprj\sim\_sharedutils\shared_file.dmr

????.CA....????????82??2018-02-07?14:39??Matlab_Exercise_6A\slprj\sl_proj.tmw

????.CA....??????2908??2018-03-04?11:45??Matlab_Exercise_6A\S_Func_MatlabExercise6.m

????.CA....??????2561??2018-02-10?10:40??Matlab_Exercise_6A\S_Func_MatlabExercise6_torque.m

????.C.D...?????????0??2018-02-09?10:36??Matlab_Exercise_6A\slprj\accel\Matlab_Exercise_6\rtwgen_tlc

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\accel\Matlab_Exercise_6\tmwinternal

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\raccel\Matlab_Exercise_6\tmwinternal

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\accel\Matlab_Exercise_6

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\raccel\Matlab_Exercise_6

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\sim\_sharedutils

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\accel

????.C.D...?????????0??2018-03-04?10:13??Matlab_Exercise_6A\slprj\raccel

............此處省略6個(gè)文件信息