%?the?input?of?program
alpha1=0;
beta1=0;
gamma1=0.5;
alpha2=0.5;
beta2=0.7;
gamma2=0;
alpha3=0;
beta3=0;
gamma3=0;


lx=100;
ly=100;
lz=0;
mx=150;
my=150;
mz=0;
nx=80;
ny=60;
nz=10;
thigh=412;
crus=385;
ankel=121.8;
center=250;

%?joint?angle?of?right?leg

%?syms?alpha1?beta1?gamma1?alpha2?beta2?gamma2?alpha3?beta3?gamma3?lx?ly?lz
%?mx?my?mz?nx?ny?nz?thigh?crus?ankel?center;
%?r11=cos（alpha1）*cos（beta1）;
%?r12=cos（alpha1）*sin（beta1）*sin（gamma1）-sin（alpha1）*cos（gamma1）;
%?r13=cos（alpha1）*sin（beta1）*cos（gamma1）+sin（alpha1）*sin（gamma1）;
%?r21=sin（alpha1）*cos（beta1）;
%?r22=sin（alpha1）*sin（beta1）*sin（gamma1）+cos（alpha1）*cos（gamma1）;
%?r23=sin（alpha1）*sin（beta1）*cos（gamma1）-cos（alpha1）*sin（gamma1）;
%?r31=-sin（beta1）;
%?r32=cos（beta1）*sin（gamma1）;
%?r33=cos（

?屬性????????????大小?????日期????時間???名稱
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?????文件???????9584??2009-12-06?15:10??invers_kinematics.m

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?????????????????9584????????????????????1