function?[Jacobian]=Jacobian_Matlab_Exercise_5（theta）;
%從mathematica的計算結果導入的Jacobian矩陣
%返回Jabobian矩陣
syms	C1	C2	C3	C4	C5	C6	real;
syms	S1	S2	S3	S4	S5	S6	real;
syms	C123	S123	C12	S12	C23	S23	real	;
syms	l1	l2	l3	;
J0=[C123*（S23*l1+S3*l2）-S123*（C23*l1+C3*l2+l3）?C123*S3*l2-S123*（C3*l2+l3）?-（S123*l3）;
????S123*（S23*l1+S3*l2）+C123*（C23*l1+C3*l2+l3）?S3*S123*l2+C123*（C3*l2+l3）???C123*l3;
????1?1?1];%%Jacobian來自mathematica的推導

Jacobian1=subs（J0[	C1	;	C2	;	C3	]		[	cos（theta（1））;	cos（theta（2））;	cos（theta（3））;	]）;
Jacobian1=subs（Jacobian1[	S1	;	S2	;	S3	]		[	sin（theta（1））;	sin（theta（2））;	sin（theta（3））	]）;
Jacobian1=subs（Jacobian1[	l1	;	l2	;	l3	]		[4;3;2]）;
Jacobian=subs（Jacobian1[	C123	;	S123	;	C12	;	S12	;	C23	;	S23	][	cos（theta（1）+?theta（2）+?theta（3））;	sin（theta（1）+?theta（2）+?theta（3））;	cos（theta（1）+?theta（2））;	sin（theta（1）+?theta（2））;	cos（theta（2）+?theta（3））;	sin（theta（2）+?theta（3））]）;
Jacobian=eval（Jacobian）;

?屬性????????????大小?????日期????時間???名稱
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????.CA....???????962??2018-03-09?21:41??Matlab_Exercise_5\Jacobian_Matlab_Exercise_5.m

????.CA....?????60574??2018-03-09?20:50??Matlab_Exercise_5\Matlab_Exercise_5.slx

????.CA....?????64270??2018-01-27?22:00??Matlab_Exercise_5\Matlab_Exercise_5.slx.r2016a

????.CA....?????75234??2018-03-09?21:10??Matlab_Exercise_5\Matlab_Exercise_5.slxc

????.CA....?????63775??2018-01-27?21:24??Matlab_Exercise_5\Matlab_Exercise_5_.mlx

????.CA....?????40960??2018-01-27?21:52??Matlab_Exercise_5\Matlab_Exercise_5_acc.mexw64

????.CA....????120046??2018-02-03?16:06??Matlab_Exercise_5\Matlab_Exercise_5_Jacobian.nb

????.CA....???????812??2018-01-27?22:24??Matlab_Exercise_5\Matlab_Exercise_5_plot.m

????.CA....???????978??2018-03-09?20:49??Matlab_Exercise_5\Matlab_Exercise_5_Robotics_Toolbox.m

????.CA....??????9694??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\buildInfo.mat

????.CA....????159744??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\codedescriptor.dmr

????.CA....???????556??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\compileInfo.mat

????.CA....???????178??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\defines.txt

????.CA....???????327??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5.bat

????.CA....???????105??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5.lnk

????.CA....??????9557??2018-01-27?21:14??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5.mk

????.CA....??????4507??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc.c

????.CA....??????1573??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc.h

????.CA....?????50675??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc.obj

????.CA....???????215??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc_data.c

????.CA....???????688??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc_data.obj

????.CA....???????609??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc_private.h

????.CA....???????240??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_acc_types.h

????.CA....?????????0??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_ref.rsp

????.CA....??????4592??2018-02-10?11:02??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\Matlab_Exercise_5_top_vm.bc

????.CA....????????29??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\modelsources.txt

????.CA....??????7869??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\multiword_types.h

????.CA....??????1945??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\rtGetInf.c

????.CA....???????333??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\rtGetInf.h

????.CA....??????1953??2018-01-27?21:52??Matlab_Exercise_5\slprj\accel\Matlab_Exercise_5\rtGetInf.obj

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