动力学方程推导
%% Function 动力学方程推导 练习
clc;clear;
%% %%%%%%%%%%%%%%%%%%%%%%参数定义及赋值%%%%%%%%%%%%%%%%%%%%%%%%%%%%
syms Mp Mq Ip Iq rp rq
syms thita_p thita_q dthita_p dthita_q deta ddeta de e t Tp Tq km cm
%% %%%%%%%%%%%%%%%%%%%%%%参数定义及赋值%
动力学方程推导
%% Function 动力学方程推导 练习
clc;clear;
%% %%%%%%%%%%%%%%%%%%%%%%参数定义及赋值%%%%%%%%%%%%%%%%%%%%%%%%%%%%
syms Mp Mq Ip Iq rp rq
syms thita_p thita_q dthita_p dthita_q deta ddeta de e t Tp Tq km cm
%% %%%%%%%%%%%%%%%%%%%%%%参数定义及赋值%