JJ_wc.m

 
J_wc =[0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_fr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_fr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_fr) - cos(gamma_p)*sin(alpha_p)*sin(q1_fr), cos(q1_fr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_fr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_fr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_fr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_fr) - cos(gamma_p)*sin(alpha_p)*sin(q1_fr), cos(q1_fr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_fr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_fr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_fr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_fr) - cos(gamma_p)*sin(alpha_p)*sin(q1_fr), cos(q1_fr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_fr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_fl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_fl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_fl) - cos(gamma_p)*sin(alpha_p)*sin(q1_fl), cos(q1_fl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_fl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_fl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_fl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_fl) - cos(gamma_p)*sin(alpha_p)*sin(q1_fl), cos(q1_fl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_fl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_fl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_fl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_fl) - cos(gamma_p)*sin(alpha_p)*sin(q1_fl), cos(q1_fl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_fl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_hr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hr) - cos(gamma_p)*sin(alpha_p)*sin(q1_hr), cos(q1_hr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_hr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hr) - cos(gamma_p)*sin(alpha_p)*sin(q1_hr), cos(q1_hr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_hr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hr) - cos(gamma_p)*sin(alpha_p)*sin(q1_hr), cos(q1_hr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_hr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hr) - cos(gamma_p)*sin(alpha_p)*sin(q1_hr), cos(q1_hr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_hr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hr) - cos(gamma_p)*sin(alpha_p)*sin(q1_hr), cos(q1_hr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_hr)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hr) - cos(gamma_p)*sin(alpha_p)*sin(q1_hr), cos(q1_hr)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hr)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_hl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hl) - cos(gamma_p)*sin(alpha_p)*sin(q1_hl), cos(q1_hl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_hl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hl) - cos(gamma_p)*sin(alpha_p)*sin(q1_hl), cos(q1_hl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_hl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hl) - cos(gamma_p)*sin(alpha_p)*sin(q1_hl), cos(q1_hl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), 0, 1, 0, sin(beta_p), 0, cos(beta_p), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, cos(beta_p)*cos(gamma_p), sin(gamma_p), -cos(gamma_p)*sin(beta_p), cos(q1_hl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hl) - cos(gamma_p)*sin(alpha_p)*sin(q1_hl), cos(q1_hl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_hl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hl) - cos(gamma_p)*sin(alpha_p)*sin(q1_hl), cos(q1_hl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p)), cos(q1_hl)*(sin(alpha_p)*sin(beta_p) - cos(alpha_p)*cos(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*sin(beta_p) + cos(beta_p)*sin(alpha_p)*sin(gamma_p)), cos(alpha_p)*cos(gamma_p)*cos(q1_hl) - cos(gamma_p)*sin(alpha_p)*sin(q1_hl), cos(q1_hl)*(cos(beta_p)*sin(alpha_p) + cos(alpha_p)*sin(beta_p)*sin(gamma_p)) + sin(q1_hl)*(cos(alpha_p)*cos(beta_p) - sin(alpha_p)*sin(beta_p)*sin(gamma_p))];