omega1=50*pi;%rad/sl1=0.1;%ml2=0.33;G1=10;%NG2=25;G3=21;Js2=0.0425;%kg*m^2FR=100;g=9.8;phi1=0;omega=0.1;k=1;fort=0:1:63phi2=asin(-l1*sin(phi1)/l2);omega2=-l1*omega1*cos(p...
omega1=50*pi;%rad/sl1=0.1;%ml2=0.33;G1=10;%NG2=25;G3=21;Js2=0.0425;%kg*m^2FR=100;g=9.8;phi1=0;omega=0.1;k=1;for t=0:1:63 phi2=asin(-l1*sin(phi1)/l2);omega2=-l1*omega1*cos(phi1)/(l2*cos(phi2));alpha2=(l1*omega1*omega1*sin(phi1)+l2*omega2*omega2*sin(phi2))/(l2*cos(phi2));FI1=1/2*omega1*omega1*l1*G1/g;a3=-(l1*omega1*omega1*cos(phi1)+l2*alpha2*sin(phi2)+l2*omega2*omega2*cos(phi2));as2x=-l1*omega1*omega1*cos(phi1)-1/3*l2*omega2*omega2*cos(phi2)-1/3*l2*alpha2*sin(phi2);as2y=-l1*omega1*omega1*sin(phi1)+1/3*l2*alpha2*cos(phi2)-1/3*l2*omega2*omega2*sin(phi2);FI2X=-G2*as2x/g;FI2Y=-G2*as2y/g;MI2=-Js2*alpha2;FI3=-G