braco_manco

# Created by Octave 4.2.2, Thu Jun 06 04:12:12 2019 -03 <jaiminho@JAVA-Verde>
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[cos(a1)  -sin(a1)  0]
[                    ]
[sin(a1)  cos(a1)   0]
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⎡cos(a₁)  -sin(a₁)  0⎤
⎢                    ⎥
⎢sin(a₁)  cos(a₁)   0⎥
⎢                    ⎥
⎣   0        0      1⎦







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[cos(a2)   0  sin(a2)]
[                    ]
[   0      1     0   ]
[                    ]
[-sin(a2)  0  cos(a2)]





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⎡cos(a₂)   0  sin(a₂)⎤
⎢                    ⎥
⎢   0      1     0   ⎥
⎢                    ⎥
⎣-sin(a₂)  0  cos(a₂)⎦







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[cos(a2 + a3)   0  sin(a2 + a3)]
[                              ]
[      0        1       0      ]
[                              ]
[-sin(a2 + a3)  0  cos(a2 + a3)]





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⎡cos(a₂ + a₃)   0  sin(a₂ + a₃)⎤
⎢                              ⎥
⎢      0        1       0      ⎥
⎢                              ⎥
⎣-sin(a₂ + a₃)  0  cos(a₂ + a₃)⎦







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[cos(a3)   0  sin(a3)]
[                    ]
[   0      1     0   ]
[                    ]
[-sin(a3)  0  cos(a3)]





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⎡cos(a₃)   0  sin(a₃)⎤
⎢                    ⎥
⎢   0      1     0   ⎥
⎢                    ⎥
⎣-sin(a₃)  0  cos(a₃)⎦







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[1     0        0    ]
[                    ]
[0  cos(a4)  -sin(a4)]
[                    ]
[0  sin(a4)  cos(a4) ]





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⎡1     0        0    ⎤
⎢                    ⎥
⎢0  cos(a₄)  -sin(a₄)⎥
⎢                    ⎥
⎣0  sin(a₄)  cos(a₄) ⎦







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[cos(a1)  -sin(a1)  0  0]
[                       ]
[sin(a1)  cos(a1)   0  0]
[                       ]
[   0        0      1  0]
[                       ]
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⎡cos(a₁)  -sin(a₁)  0  0⎤
⎢                       ⎥
⎢sin(a₁)  cos(a₁)   0  0⎥
⎢                       ⎥
⎢   0        0      1  0⎥
⎢                       ⎥
⎣   0        0      0  1⎦







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[                                                                    /__\]
[cos(a1)*cos(a2 + a3)  -sin(a1)  sin(a2 + a3)*cos(a1)  l2*cos(a1)*cos\a2/]
[                                                                        ]
[                                                                    /__\]
[sin(a1)*cos(a2 + a3)  cos(a1)   sin(a1)*sin(a2 + a3)  l2*sin(a1)*cos\a2/]
[                                                                        ]
[                                                                  /__\  ]
[   -sin(a2 + a3)         0          cos(a2 + a3)       l1 - l2*sin\a2/  ]
[                                                                        ]
[         0               0               0                    1         ]





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⎡                                                                    ⎛__⎞⎤
⎢cos(a₁)⋅cos(a₂ + a₃)  -sin(a₁)  sin(a₂ + a₃)⋅cos(a₁)  l₂⋅cos(a₁)⋅cos⎝a₂⎠⎥
⎢                                                                        ⎥
⎢                                                                    ⎛__⎞⎥
⎢sin(a₁)⋅cos(a₂ + a₃)  cos(a₁)   sin(a₁)⋅sin(a₂ + a₃)  l₂⋅sin(a₁)⋅cos⎝a₂⎠⎥
⎢                                                                        ⎥
⎢                                                                  ⎛__⎞  ⎥
⎢   -sin(a₂ + a₃)         0          cos(a₂ + a₃)       l₁ - l₂⋅sin⎝a₂⎠  ⎥
⎢                                                                        ⎥
⎣         0               0               0                    1         ⎦







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[                                                                                                                                     /__\                        __]
[cos(a1)*cos(a2 + a3)  -sin(a1)*cos(a4) + sin(a4)*sin(a2 + a3)*cos(a1)  sin(a1)*sin(a4) + sin(a2 + a3)*cos(a1)*cos(a4)  l2*cos(a1)*cos\a2/ + cos(a1)*cos(a2 + a3)*l3]
[                                                                                                                                                                   ]
[                                                                                                                                     /__\                        __]
[sin(a1)*cos(a2 + a3)  sin(a1)*sin(a4)*sin(a2 + a3) + cos(a1)*cos(a4)   sin(a1)*sin(a2 + a3)*cos(a4) - sin(a4)*cos(a1)  l2*sin(a1)*cos\a2/ + sin(a1)*cos(a2 + a3)*l3]
[                                                                                                                                                                   ]
[                                                                                                                                       /__\                __      ]
[   -sin(a2 + a3)                   sin(a4)*cos(a2 + a3)                             cos(a4)*cos(a2 + a3)                    l1 - l2*sin\a2/ - sin(a2 + a3)*l3      ]
[                                                                                                                                                                   ]
[         0                                   0                                               0                                              1                      ]





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⎡                                                                                                                                     ⎛__⎞                        __⎤
⎢cos(a₁)⋅cos(a₂ + a₃)  -sin(a₁)⋅cos(a₄) + sin(a₄)⋅sin(a₂ + a₃)⋅cos(a₁)  sin(a₁)⋅sin(a₄) + sin(a₂ + a₃)⋅cos(a₁)⋅cos(a₄)  l₂⋅cos(a₁)⋅cos⎝a₂⎠ + cos(a₁)⋅cos(a₂ + a₃)⋅l₃⎥
⎢                                                                                                                                                                   ⎥
⎢                                                                                                                                     ⎛__⎞                        __⎥
⎢sin(a₁)⋅cos(a₂ + a₃)  sin(a₁)⋅sin(a₄)⋅sin(a₂ + a₃) + cos(a₁)⋅cos(a₄)   sin(a₁)⋅sin(a₂ + a₃)⋅cos(a₄) - sin(a₄)⋅cos(a₁)  l₂⋅sin(a₁)⋅cos⎝a₂⎠ + sin(a₁)⋅cos(a₂ + a₃)⋅l₃⎥
⎢                                                                                                                                                                   ⎥
⎢                                                                                                                                       ⎛__⎞                __      ⎥
⎢   -sin(a₂ + a₃)                   sin(a₄)⋅cos(a₂ + a₃)                             cos(a₄)⋅cos(a₂ + a₃)                    l₁ - l₂⋅sin⎝a₂⎠ - sin(a₂ + a₃)⋅l₃      ⎥
⎢                                                                                                                                                                   ⎥
⎣         0                                   0                                               0                                              1                      ⎦







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[cos(a2)   0  sin(a2)  0 ]
[                        ]
[   0      1     0     0 ]
[                        ]
[                      __]
[-sin(a2)  0  cos(a2)  l1]
[                        ]
[   0      0     0     1 ]





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⎡cos(a₂)   0  sin(a₂)  0 ⎤
⎢                        ⎥
⎢   0      1     0     0 ⎥
⎢                        ⎥
⎢                      __⎥
⎢-sin(a₂)  0  cos(a₂)  l₁⎥
⎢                        ⎥
⎣   0      0     0     1 ⎦







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[                                        /__\   ]
[cos(a2 + a3)   0  sin(a2 + a3)    l2*cos\a2/   ]
[                                               ]
[      0        1       0               0       ]
[                                               ]
[                                           /__\]
[-sin(a2 + a3)  0  cos(a2 + a3)  l1 - l2*sin\a2/]
[                                               ]
[      0        0       0               1       ]





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MutableDenseMatrix([[cos(Add(Symbol('a2'), Symbol('a3'))), Integer(0), sin(Add(Symbol('a2'), Symbol('a3'))), Mul(Symbol('l2'), cos(conjugate(Symbol('a2'))))], [Integer(0), Integer(1), Integer(0), Integer(0)], [Mul(Integer(-1), sin(Add(Symbol('a2'), Symbol('a3')))), Integer(0), cos(Add(Symbol('a2'), Symbol('a3'))), Add(Symbol('l1'), Mul(Integer(-1), Symbol('l2'), sin(conjugate(Symbol('a2')))))], [Integer(0), Integer(0), Integer(0), Integer(1)]])





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⎡                                        ⎛__⎞   ⎤
⎢cos(a₂ + a₃)   0  sin(a₂ + a₃)    l₂⋅cos⎝a₂⎠   ⎥
⎢                                               ⎥
⎢      0        1       0               0       ⎥
⎢                                               ⎥
⎢                                           ⎛__⎞⎥
⎢-sin(a₂ + a₃)  0  cos(a₂ + a₃)  l₁ - l₂⋅sin⎝a₂⎠⎥
⎢                                               ⎥
⎣      0        0       0               1       ⎦







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[                      __]
[cos(a3)   0  sin(a3)  l2]
[                        ]
[   0      1     0     0 ]
[                        ]
[-sin(a3)  0  cos(a3)  0 ]
[                        ]
[   0      0     0     1 ]





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MutableDenseMatrix([[cos(Symbol('a3')), Integer(0), sin(Symbol('a3')), conjugate(Symbol('l2'))], [Integer(0), Integer(1), Integer(0), Integer(0)], [Mul(Integer(-1), sin(Symbol('a3'))), Integer(0), cos(Symbol('a3')), Integer(0)], [Integer(0), Integer(0), Integer(0), Integer(1)]])





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⎡                      __⎤
⎢cos(a₃)   0  sin(a₃)  l₂⎥
⎢                        ⎥
⎢   0      1     0     0 ⎥
⎢                        ⎥
⎢-sin(a₃)  0  cos(a₃)  0 ⎥
⎢                        ⎥
⎣   0      0     0     1 ⎦







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[                      __]
[1     0        0      l3]
[                        ]
[0  cos(a4)  -sin(a4)  0 ]
[                        ]
[0  sin(a4)  cos(a4)   0 ]
[                        ]
[0     0        0      1 ]





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MutableDenseMatrix([[Integer(1), Integer(0), Integer(0), conjugate(Symbol('l3'))], [Integer(0), cos(Symbol('a4')), Mul(Integer(-1), sin(Symbol('a4'))), Integer(0)], [Integer(0), sin(Symbol('a4')), cos(Symbol('a4')), Integer(0)], [Integer(0), Integer(0), Integer(0), Integer(1)]])





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⎡                      __⎤
⎢1     0        0      l₃⎥
⎢                        ⎥
⎢0  cos(a₄)  -sin(a₄)  0 ⎥
⎢                        ⎥
⎢0  sin(a₄)  cos(a₄)   0 ⎥
⎢                        ⎥
⎣0     0        0      1 ⎦







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[0]
[ ]
[0]
[ ]
[0]





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⎡0⎤
⎢ ⎥
⎢0⎥
⎢ ⎥
⎣0⎦







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[0 ]
[  ]
[0 ]
[  ]
[__]
[l1]





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⎡0 ⎤
⎢  ⎥
⎢0 ⎥
⎢  ⎥
⎢__⎥
⎣l₁⎦







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[        /__\   ]
[  l2*cos\a2/   ]
[               ]
[       0       ]
[               ]
[           /__\]
[l1 - l2*sin\a2/]





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⎡        ⎛__⎞   ⎤
⎢  l₂⋅cos⎝a₂⎠   ⎥
⎢               ⎥
⎢       0       ⎥
⎢               ⎥
⎢           ⎛__⎞⎥
⎣l₁ - l₂⋅sin⎝a₂⎠⎦







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[__]
[l2]
[  ]
[0 ]
[  ]
[0 ]





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⎡__⎤
⎢l₂⎥
⎢  ⎥
⎢0 ⎥
⎢  ⎥
⎣0 ⎦







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[__]
[l3]
[  ]
[0 ]
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[0 ]





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⎡__⎤
⎢l₃⎥
⎢  ⎥
⎢0 ⎥
⎢  ⎥
⎣0 ⎦







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a₁







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a₂







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a₃







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a4





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a₄







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[              /__\                        __]
[l2*cos(a1)*cos\a2/ + cos(a1)*cos(a2 + a3)*l3]
[                                            ]
[              /__\                        __]
[l2*sin(a1)*cos\a2/ + sin(a1)*cos(a2 + a3)*l3]
[                                            ]
[                /__\                __      ]
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[                                            ]
[                     1                      ]





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⎡              ⎛__⎞                        __⎤
⎢l₂⋅cos(a₁)⋅cos⎝a₂⎠ + cos(a₁)⋅cos(a₂ + a₃)⋅l₃⎥
⎢                                            ⎥
⎢              ⎛__⎞                        __⎥
⎢l₂⋅sin(a₁)⋅cos⎝a₂⎠ + sin(a₁)⋅cos(a₂ + a₃)⋅l₃⎥
⎢                                            ⎥
⎢                ⎛__⎞                __      ⎥
⎢     l₁ - l₂⋅sin⎝a₂⎠ - sin(a₂ + a₃)⋅l₃      ⎥
⎢                                            ⎥
⎣                     1                      ⎦







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# type: matrix
# rows: 0
# columns: 0





# name: flat
# type: cell
# rows: 1
# columns: 1
# name: <cell-element>
# type: sq_string
# elements: 1
# length: 2
l3





# name: pickle
# type: cell
# rows: 1
# columns: 1
# name: <cell-element>
# type: sq_string
# elements: 1
# length: 12
Symbol('l3')





# name: size
# type: cell
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# columns: 1
# name: <cell-element>
# type: matrix
# rows: 1
# columns: 2
 1 1





# name: unicode
# type: cell
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# columns: 1
# name: <cell-element>
# type: sq_string
# elements: 1
# length: 4
l₃