symbexport3.m

qm = [...
c1^2*k1+kc1+(g*m13)/(2*c1*l1)-(c1*g*m13)/(2*l1) 0 0 0 0 0
 0 c1^2*k1+kc1+(g*m13)/(2*c1*l1)-(c1*g*m13)/(2*l1) 0 0 0 0
 0 0 (c2^2*k2)/2+kc2/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) 0 0 0
 0 0 0 (c2^2*k2)/2+kc2/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) 0 0
 0 0 0 0 (c2^2*k2)/2+kc2/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) 0
 0 0 0 0 0 (c2^2*k2)/2+kc2/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2)
];
cqsm = [...
0 -((2*c1*k1*l1-g*m13)*(n0-n1))/(2*l1^2) (2*c1^3*k1*l1+g*m13-c1^2*g*m13)/(2*c1*l1) 0 0 -(2*c1^3*k1*l1*n0-c1^2*g*m13*n0+g*m13*n1)/(2*c1*l1)
 0 ((2*c1*k1*l1-g*m13)*(n0-n1))/(2*l1^2) (2*c1^3*k1*l1+g*m13-c1^2*g*m13)/(2*c1*l1) 0 0 (2*c1^3*k1*l1*n0-c1^2*g*m13*n0+g*m13*n1)/(2*c1*l1)
 0 0 0 0 0 0
 0 0 0 0 0 0
 0 0 0 0 0 0
 0 0 0 0 0 0
];
xmlp = [...
(g*(2*d0^2+2*c1*d0*l1)*m13)/(2*c1*l1)+2*c2^2*k2*si^2-(c2*g*m23*si^2)/l2+(g*m23*(2*d1^2+2*c2*d1*l2+2*si^2))/(2*c2*l2) (d0*g*m13)/(c1*l1)-(d1*g*m23)/(c2*l2) -2*c2^2*k2*si^2+(c2*g*m23*si^2)/l2+(g*m23*(2*d1*d2-2*si^2))/(2*c2*l2) (d1*g*m23)/(c2*l2) 0 0
 (d0*g*m13)/(c1*l1)-(d1*g*m23)/(c2*l2) (g*m13)/(c1*l1)+(g*m23)/(c2*l2) -((d2*g*m23)/(c2*l2)) -((g*m23)/(c2*l2)) 0 0
 -2*c2^2*k2*si^2+(c2*g*m23*si^2)/l2+(g*m23*(2*d1*d2-2*si^2))/(2*c2*l2) -((d2*g*m23)/(c2*l2)) 2*c2^2*k2*si^2-(c2*g*m23*si^2)/l2+(g*m23*(2*d2^2+2*c2*d2*l2+2*si^2))/(2*c2*l2)+2*c3^2*k3*sl^2-(c3*g*m3*sl^2)/l3+(g*m3*(2*d3^2+2*c3*d3*l3+2*sl^2))/(2*c3*l3) (d2*g*m23)/(c2*l2)-(d3*g*m3)/(c3*l3) -2*c3^2*k3*sl^2+(c3*g*m3*sl^2)/l3+(g*m3*(2*d3*d4-2*sl^2))/(2*c3*l3) (d3*g*m3)/(c3*l3)
 (d1*g*m23)/(c2*l2) -((g*m23)/(c2*l2)) (d2*g*m23)/(c2*l2)-(d3*g*m3)/(c3*l3) (g*m23)/(c2*l2)+(g*m3)/(c3*l3) -((d4*g*m3)/(c3*l3)) -((g*m3)/(c3*l3))
 0 0 -2*c3^2*k3*sl^2+(c3*g*m3*sl^2)/l3+(g*m3*(2*d3*d4-2*sl^2))/(2*c3*l3) -((d4*g*m3)/(c3*l3)) 2*c3^2*k3*sl^2-(c3*g*m3*sl^2)/l3+(g*m3*(2*d4^2+2*c3*d4*l3+2*sl^2))/(2*c3*l3) (d4*g*m3)/(c3*l3)
 0 0 (d3*g*m3)/(c3*l3) -((g*m3)/(c3*l3)) (d4*g*m3)/(c3*l3) (g*m3)/(c3*l3)
];
kmlp = [...
I1y 0 0 0 0 0
 0 m1 0 0 0 0
 0 0 I2y 0 0 0
 0 0 0 m2 0 0
 0 0 0 0 I3y 0
 0 0 0 0 0 m3
];
cqxmlp = [...
0 0 0 0 0 0
 0 0 0 0 0 0
 (c2^2*k2*si)/2+(g*m23*si)/(4*c2*l2)-(c2*g*m23*si)/(4*l2) 0 -(c2^2*k2*si)/2-(g*m23*si)/(4*c2*l2)+(c2*g*m23*si)/(4*l2) 0 0 0
 -(c2^2*k2*si)/2-(g*m23*si)/(4*c2*l2)+(c2*g*m23*si)/(4*l2) 0 (c2^2*k2*si)/2+(g*m23*si)/(4*c2*l2)-(c2*g*m23*si)/(4*l2) 0 0 0
 (c2^2*k2*si)/2+(g*m23*si)/(4*c2*l2)-(c2*g*m23*si)/(4*l2) 0 -(c2^2*k2*si)/2-(g*m23*si)/(4*c2*l2)+(c2*g*m23*si)/(4*l2) 0 0 0
 -(c2^2*k2*si)/2-(g*m23*si)/(4*c2*l2)+(c2*g*m23*si)/(4*l2) 0 (c2^2*k2*si)/2+(g*m23*si)/(4*c2*l2)-(c2*g*m23*si)/(4*l2) 0 0 0
];
cxsmlp = [...
-((d0*g*m13)/(c1*l1)) 0 0 0 0 0
 -((g*m13)/(c1*l1)) 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
];
xmtr = [...
(k1*(-2*d0*(n0-n1)+2*c1*l1*n1)^2)/(4*l1^2)-(g*m13*(-2*d0*(n0-n1)+2*c1*l1*n1)^2)/(8*c1*l1^3)+(g*m13*(2*d0^2+2*c1*d0*l1+2*(n0-n1)*n1+2*n1^2))/(4*c1*l1)+(k1*(-2*c1*l1*n1-2*d0*(-n0+n1))^2)/(4*l1^2)-(g*m13*(-2*c1*l1*n1-2*d0*(-n0+n1))^2)/(8*c1*l1^3)+(g*m13*(2*d0^2+2*c1*d0*l1+2*n1^2-2*n1*(-n0+n1)))/(4*c1*l1)+(k2*(-2*c2*l2*n2-2*d1*(n2-n3))^2)/(4*l2^2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))^2)/(8*c2*l2^3)+(g*m23*(2*d1^2+2*c2*d1*l2+2*n2^2-2*n2*(n2-n3)))/(4*c2*l2)+(k2*(2*c2*l2*n2-2*d1*(-n2+n3))^2)/(4*l2^2)-(g*m23*(2*c2*l2*n2-2*d1*(-n2+n3))^2)/(8*c2*l2^3)+(g*m23*(2*d1^2+2*c2*d1*l2+2*n2^2+2*n2*(-n2+n3)))/(4*c2*l2) -((d0*g*m13)/(c1*l1))+(d1*g*m23)/(c2*l2)+(k1*(n0-n1)*(-2*d0*(n0-n1)+2*c1*l1*n1))/(2*l1^2)-(g*m13*(n0-n1)*(-2*d0*(n0-n1)+2*c1*l1*n1))/(4*c1*l1^3)+(k1*(-n0+n1)*(-2*c1*l1*n1-2*d0*(-n0+n1)))/(2*l1^2)-(g*m13*(-n0+n1)*(-2*c1*l1*n1-2*d0*(-n0+n1)))/(4*c1*l1^3)-(k2*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(2*l2^2)+(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(4*c2*l2^3)-(k2*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(2*l2^2)+(g*m23*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(4*c2*l2^3) (k2*(-2*c2*l2*n2-2*d1*(n2-n3))*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*l2^2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))*(-2*d2*(n2-n3)+2*c2*l2*n3))/(8*c2*l2^3)+(g*m23*(2*d1*d2-2*n2*n3))/(2*c2*l2)+(k2*(2*c2*l2*n2-2*d1*(-n2+n3))*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*l2^2)-(g*m23*(2*c2*l2*n2-2*d1*(-n2+n3))*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(8*c2*l2^3) -((d1*g*m23)/(c2*l2))+(k2*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(2*l2^2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(4*c2*l2^3)+(k2*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(2*l2^2)-(g*m23*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(4*c2*l2^3) 0 0
 -((d0*g*m13)/(c1*l1))+(d1*g*m23)/(c2*l2)+(k1*(n0-n1)*(-2*d0*(n0-n1)+2*c1*l1*n1))/(2*l1^2)-(g*m13*(n0-n1)*(-2*d0*(n0-n1)+2*c1*l1*n1))/(4*c1*l1^3)+(k1*(-n0+n1)*(-2*c1*l1*n1-2*d0*(-n0+n1)))/(2*l1^2)-(g*m13*(-n0+n1)*(-2*c1*l1*n1-2*d0*(-n0+n1)))/(4*c1*l1^3)-(k2*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(2*l2^2)+(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(4*c2*l2^3)-(k2*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(2*l2^2)+(g*m23*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(4*c2*l2^3) (g*m13)/(c1*l1)+(g*m23)/(c2*l2)+(k1*(n0-n1)^2)/l1^2-(g*m13*(n0-n1)^2)/(2*c1*l1^3)+(k1*(-n0+n1)^2)/l1^2-(g*m13*(-n0+n1)^2)/(2*c1*l1^3)+(k2*(n2-n3)^2)/l2^2-(g*m23*(n2-n3)^2)/(2*c2*l2^3)+(k2*(-n2+n3)^2)/l2^2-(g*m23*(-n2+n3)^2)/(2*c2*l2^3) (d2*g*m23)/(c2*l2)-(k2*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(2*l2^2)+(g*m23*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*c2*l2^3)-(k2*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(2*l2^2)+(g*m23*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*c2*l2^3) -((g*m23)/(c2*l2))-(k2*(n2-n3)^2)/l2^2+(g*m23*(n2-n3)^2)/(2*c2*l2^3)-(k2*(-n2+n3)^2)/l2^2+(g*m23*(-n2+n3)^2)/(2*c2*l2^3) 0 0
 (k2*(-2*c2*l2*n2-2*d1*(n2-n3))*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*l2^2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))*(-2*d2*(n2-n3)+2*c2*l2*n3))/(8*c2*l2^3)+(g*m23*(2*d1*d2-2*n2*n3))/(2*c2*l2)+(k2*(2*c2*l2*n2-2*d1*(-n2+n3))*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*l2^2)-(g*m23*(2*c2*l2*n2-2*d1*(-n2+n3))*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(8*c2*l2^3) (d2*g*m23)/(c2*l2)-(k2*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(2*l2^2)+(g*m23*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*c2*l2^3)-(k2*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(2*l2^2)+(g*m23*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*c2*l2^3) (k2*(-2*d2*(n2-n3)+2*c2*l2*n3)^2)/(4*l2^2)-(g*m23*(-2*d2*(n2-n3)+2*c2*l2*n3)^2)/(8*c2*l2^3)+(g*m23*(2*d2^2+2*c2*d2*l2+2*(n2-n3)*n3+2*n3^2))/(4*c2*l2)+(k2*(-2*c2*l2*n3-2*d2*(-n2+n3))^2)/(4*l2^2)-(g*m23*(-2*c2*l2*n3-2*d2*(-n2+n3))^2)/(8*c2*l2^3)+(g*m23*(2*d2^2+2*c2*d2*l2+2*n3^2-2*n3*(-n2+n3)))/(4*c2*l2)+(k3*(-2*c3*l3*n4-2*d3*(n4-n5))^2)/(4*l3^2)-(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))^2)/(8*c3*l3^3)+(g*m3*(2*d3^2+2*c3*d3*l3+2*n4^2-2*n4*(n4-n5)))/(4*c3*l3)+(k3*(2*c3*l3*n4-2*d3*(-n4+n5))^2)/(4*l3^2)-(g*m3*(2*c3*l3*n4-2*d3*(-n4+n5))^2)/(8*c3*l3^3)+(g*m3*(2*d3^2+2*c3*d3*l3+2*n4^2+2*n4*(-n4+n5)))/(4*c3*l3) -((d2*g*m23)/(c2*l2))+(d3*g*m3)/(c3*l3)+(k2*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(2*l2^2)-(g*m23*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*c2*l2^3)+(k2*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(2*l2^2)-(g*m23*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*c2*l2^3)-(k3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(2*l3^2)+(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(4*c3*l3^3)-(k3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(2*l3^2)+(g*m3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(4*c3*l3^3) (k3*(-2*c3*l3*n4-2*d3*(n4-n5))*(-2*d4*(n4-n5)+2*c3*l3*n5))/(4*l3^2)-(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))*(-2*d4*(n4-n5)+2*c3*l3*n5))/(8*c3*l3^3)+(g*m3*(2*d3*d4-2*n4*n5))/(2*c3*l3)+(k3*(2*c3*l3*n4-2*d3*(-n4+n5))*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(4*l3^2)-(g*m3*(2*c3*l3*n4-2*d3*(-n4+n5))*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(8*c3*l3^3) -((d3*g*m3)/(c3*l3))+(k3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(2*l3^2)-(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(4*c3*l3^3)+(k3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(2*l3^2)-(g*m3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(4*c3*l3^3)
 -((d1*g*m23)/(c2*l2))+(k2*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(2*l2^2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3))*(n2-n3))/(4*c2*l2^3)+(k2*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(2*l2^2)-(g*m23*(-n2+n3)*(2*c2*l2*n2-2*d1*(-n2+n3)))/(4*c2*l2^3) -((g*m23)/(c2*l2))-(k2*(n2-n3)^2)/l2^2+(g*m23*(n2-n3)^2)/(2*c2*l2^3)-(k2*(-n2+n3)^2)/l2^2+(g*m23*(-n2+n3)^2)/(2*c2*l2^3) -((d2*g*m23)/(c2*l2))+(d3*g*m3)/(c3*l3)+(k2*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(2*l2^2)-(g*m23*(n2-n3)*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*c2*l2^3)+(k2*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(2*l2^2)-(g*m23*(-n2+n3)*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*c2*l2^3)-(k3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(2*l3^2)+(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(4*c3*l3^3)-(k3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(2*l3^2)+(g*m3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(4*c3*l3^3) (g*m23)/(c2*l2)+(g*m3)/(c3*l3)+(k2*(n2-n3)^2)/l2^2-(g*m23*(n2-n3)^2)/(2*c2*l2^3)+(k2*(-n2+n3)^2)/l2^2-(g*m23*(-n2+n3)^2)/(2*c2*l2^3)+(k3*(n4-n5)^2)/l3^2-(g*m3*(n4-n5)^2)/(2*c3*l3^3)+(k3*(-n4+n5)^2)/l3^2-(g*m3*(-n4+n5)^2)/(2*c3*l3^3) (d4*g*m3)/(c3*l3)-(k3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(2*l3^2)+(g*m3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(4*c3*l3^3)-(k3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(2*l3^2)+(g*m3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(4*c3*l3^3) -((g*m3)/(c3*l3))-(k3*(n4-n5)^2)/l3^2+(g*m3*(n4-n5)^2)/(2*c3*l3^3)-(k3*(-n4+n5)^2)/l3^2+(g*m3*(-n4+n5)^2)/(2*c3*l3^3)
 0 0 (k3*(-2*c3*l3*n4-2*d3*(n4-n5))*(-2*d4*(n4-n5)+2*c3*l3*n5))/(4*l3^2)-(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))*(-2*d4*(n4-n5)+2*c3*l3*n5))/(8*c3*l3^3)+(g*m3*(2*d3*d4-2*n4*n5))/(2*c3*l3)+(k3*(2*c3*l3*n4-2*d3*(-n4+n5))*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(4*l3^2)-(g*m3*(2*c3*l3*n4-2*d3*(-n4+n5))*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(8*c3*l3^3) (d4*g*m3)/(c3*l3)-(k3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(2*l3^2)+(g*m3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(4*c3*l3^3)-(k3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(2*l3^2)+(g*m3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(4*c3*l3^3) (k3*(-2*d4*(n4-n5)+2*c3*l3*n5)^2)/(4*l3^2)-(g*m3*(-2*d4*(n4-n5)+2*c3*l3*n5)^2)/(8*c3*l3^3)+(g*m3*(2*d4^2+2*c3*d4*l3+2*(n4-n5)*n5+2*n5^2))/(4*c3*l3)+(k3*(-2*c3*l3*n5-2*d4*(-n4+n5))^2)/(4*l3^2)-(g*m3*(-2*c3*l3*n5-2*d4*(-n4+n5))^2)/(8*c3*l3^3)+(g*m3*(2*d4^2+2*c3*d4*l3+2*n5^2-2*n5*(-n4+n5)))/(4*c3*l3) -((d4*g*m3)/(c3*l3))+(k3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(2*l3^2)-(g*m3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(4*c3*l3^3)+(k3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(2*l3^2)-(g*m3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(4*c3*l3^3)
 0 0 -((d3*g*m3)/(c3*l3))+(k3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(2*l3^2)-(g*m3*(-2*c3*l3*n4-2*d3*(n4-n5))*(n4-n5))/(4*c3*l3^3)+(k3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(2*l3^2)-(g*m3*(-n4+n5)*(2*c3*l3*n4-2*d3*(-n4+n5)))/(4*c3*l3^3) -((g*m3)/(c3*l3))-(k3*(n4-n5)^2)/l3^2+(g*m3*(n4-n5)^2)/(2*c3*l3^3)-(k3*(-n4+n5)^2)/l3^2+(g*m3*(-n4+n5)^2)/(2*c3*l3^3) -((d4*g*m3)/(c3*l3))+(k3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(2*l3^2)-(g*m3*(n4-n5)*(-2*d4*(n4-n5)+2*c3*l3*n5))/(4*c3*l3^3)+(k3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(2*l3^2)-(g*m3*(-n4+n5)*(-2*c3*l3*n5-2*d4*(-n4+n5)))/(4*c3*l3^3) (g*m3)/(c3*l3)+(k3*(n4-n5)^2)/l3^2-(g*m3*(n4-n5)^2)/(2*c3*l3^3)+(k3*(-n4+n5)^2)/l3^2-(g*m3*(-n4+n5)^2)/(2*c3*l3^3)
];
kmtr = [...
I1x 0 0 0 0 0
 0 m1 0 0 0 0
 0 0 I2x 0 0 0
 0 0 0 m2 0 0
 0 0 0 0 I3x 0
 0 0 0 0 0 m3
];
cqxmtr = [...
(g*m13*n1)/(2*c1*l1)+(c1*k1*(-2*d0*(n0-n1)+2*c1*l1*n1))/(2*l1)-(g*m13*(-2*d0*(n0-n1)+2*c1*l1*n1))/(4*l1^2) (c1*k1*(n0-n1))/l1-(g*m13*(n0-n1))/(2*l1^2) 0 0 0 0
 -(g*m13*n1)/(2*c1*l1)+(c1*k1*(-2*c1*l1*n1-2*d0*(-n0+n1)))/(2*l1)-(g*m13*(-2*c1*l1*n1-2*d0*(-n0+n1)))/(4*l1^2) (c1*k1*(-n0+n1))/l1-(g*m13*(-n0+n1))/(2*l1^2) 0 0 0 0
 (g*m23*(-2*n2+2*(n2-n3)))/(8*c2*l2)+(c2*k2*(-2*c2*l2*n2-2*d1*(n2-n3)))/(4*l2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3)))/(8*l2^2) -(c2*k2*(n2-n3))/(2*l2)+(g*m23*(n2-n3))/(4*l2^2) (g*m23*n3)/(4*c2*l2)+(c2*k2*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*l2)-(g*m23*(-2*d2*(n2-n3)+2*c2*l2*n3))/(8*l2^2) (c2*k2*(n2-n3))/(2*l2)-(g*m23*(n2-n3))/(4*l2^2) 0 0
 (g*m23*(-2*n2+2*(n2-n3)))/(8*c2*l2)+(c2*k2*(-2*c2*l2*n2-2*d1*(n2-n3)))/(4*l2)-(g*m23*(-2*c2*l2*n2-2*d1*(n2-n3)))/(8*l2^2) -(c2*k2*(n2-n3))/(2*l2)+(g*m23*(n2-n3))/(4*l2^2) (g*m23*n3)/(4*c2*l2)+(c2*k2*(-2*d2*(n2-n3)+2*c2*l2*n3))/(4*l2)-(g*m23*(-2*d2*(n2-n3)+2*c2*l2*n3))/(8*l2^2) (c2*k2*(n2-n3))/(2*l2)-(g*m23*(n2-n3))/(4*l2^2) 0 0
 (g*m23*(2*n2+2*(-n2+n3)))/(8*c2*l2)+(c2*k2*(2*c2*l2*n2-2*d1*(-n2+n3)))/(4*l2)-(g*m23*(2*c2*l2*n2-2*d1*(-n2+n3)))/(8*l2^2) -(c2*k2*(-n2+n3))/(2*l2)+(g*m23*(-n2+n3))/(4*l2^2) -(g*m23*n3)/(4*c2*l2)+(c2*k2*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*l2)-(g*m23*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(8*l2^2) (c2*k2*(-n2+n3))/(2*l2)-(g*m23*(-n2+n3))/(4*l2^2) 0 0
 (g*m23*(2*n2+2*(-n2+n3)))/(8*c2*l2)+(c2*k2*(2*c2*l2*n2-2*d1*(-n2+n3)))/(4*l2)-(g*m23*(2*c2*l2*n2-2*d1*(-n2+n3)))/(8*l2^2) -(c2*k2*(-n2+n3))/(2*l2)+(g*m23*(-n2+n3))/(4*l2^2) -(g*m23*n3)/(4*c2*l2)+(c2*k2*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(4*l2)-(g*m23*(-2*c2*l2*n3-2*d2*(-n2+n3)))/(8*l2^2) (c2*k2*(-n2+n3))/(2*l2)-(g*m23*(-n2+n3))/(4*l2^2) 0 0
];
cxsmtr = [...
0 (d0*(g*m13*(l1^2-(n0-n1)^2)+2*c1*k1*l1*(n0-n1)^2)-c1*l1*(2*c1*k1*l1-g*m13)*(n0-n1)*n1)/(c1*l1^3) 0 0 0 (n0*(-2*c1^3*k1*l1^2*n1-g*l1*m13*n1+c1*d0*g*m13*(-n0+n1)+c1^2*l1*(2*d0*k1*(n0-n1)+g*m13*n1)))/(c1*l1^2)
 0 (g*m13*(-l1^2+(n0-n1)^2)-2*c1*k1*l1*(n0-n1)^2)/(c1*l1^3) 0 0 0 -(((2*c1*k1*l1-g*m13)*n0*(n0-n1))/l1^2)
 0 0 0 0 0 0
 0 0 0 0 0 0
 0 0 0 0 0 0
 0 0 0 0 0 0
];
xmy = [...
(g*m13*(2*(n0-n1)*n1+2*n1^2))/(4*c1*l1)+(g*m13*(2*n1^2-2*n1*(-n0+n1)))/(4*c1*l1)+(k2*(n2-n3)^2*si^2)/l2^2-(g*m23*(n2-n3)^2*si^2)/(2*c2*l2^3)+(k2*(-n2+n3)^2*si^2)/l2^2-(g*m23*(-n2+n3)^2*si^2)/(2*c2*l2^3)+(g*m23*(2*n2^2-2*n2*(n2-n3)+2*si^2))/(4*c2*l2)+(g*m23*(2*n2^2+2*n2*(-n2+n3)+2*si^2))/(4*c2*l2) -((k2*(n2-n3)^2*si^2)/l2^2)+(g*m23*(n2-n3)^2*si^2)/(2*c2*l2^3)-(k2*(-n2+n3)^2*si^2)/l2^2+(g*m23*(-n2+n3)^2*si^2)/(2*c2*l2^3)+(g*m23*(-2*n2*n3-2*si^2))/(2*c2*l2) 0
 -((k2*(n2-n3)^2*si^2)/l2^2)+(g*m23*(n2-n3)^2*si^2)/(2*c2*l2^3)-(k2*(-n2+n3)^2*si^2)/l2^2+(g*m23*(-n2+n3)^2*si^2)/(2*c2*l2^3)+(g*m23*(-2*n2*n3-2*si^2))/(2*c2*l2) (k2*(n2-n3)^2*si^2)/l2^2-(g*m23*(n2-n3)^2*si^2)/(2*c2*l2^3)+(k2*(-n2+n3)^2*si^2)/l2^2-(g*m23*(-n2+n3)^2*si^2)/(2*c2*l2^3)+(g*m23*(2*(n2-n3)*n3+2*n3^2+2*si^2))/(4*c2*l2)+(g*m23*(2*n3^2-2*n3*(-n2+n3)+2*si^2))/(4*c2*l2)+(k3*(n4-n5)^2*sl^2)/l3^2-(g*m3*(n4-n5)^2*sl^2)/(2*c3*l3^3)+(k3*(-n4+n5)^2*sl^2)/l3^2-(g*m3*(-n4+n5)^2*sl^2)/(2*c3*l3^3)+(g*m3*(2*n4^2-2*n4*(n4-n5)+2*sl^2))/(4*c3*l3)+(g*m3*(2*n4^2+2*n4*(-n4+n5)+2*sl^2))/(4*c3*l3) -((k3*(n4-n5)^2*sl^2)/l3^2)+(g*m3*(n4-n5)^2*sl^2)/(2*c3*l3^3)-(k3*(-n4+n5)^2*sl^2)/l3^2+(g*m3*(-n4+n5)^2*sl^2)/(2*c3*l3^3)+(g*m3*(-2*n4*n5-2*sl^2))/(2*c3*l3)
 0 -((k3*(n4-n5)^2*sl^2)/l3^2)+(g*m3*(n4-n5)^2*sl^2)/(2*c3*l3^3)-(k3*(-n4+n5)^2*sl^2)/l3^2+(g*m3*(-n4+n5)^2*sl^2)/(2*c3*l3^3)+(g*m3*(-2*n4*n5-2*sl^2))/(2*c3*l3) (k3*(n4-n5)^2*sl^2)/l3^2-(g*m3*(n4-n5)^2*sl^2)/(2*c3*l3^3)+(k3*(-n4+n5)^2*sl^2)/l3^2-(g*m3*(-n4+n5)^2*sl^2)/(2*c3*l3^3)+(g*m3*(2*(n4-n5)*n5+2*n5^2+2*sl^2))/(4*c3*l3)+(g*m3*(2*n5^2-2*n5*(-n4+n5)+2*sl^2))/(4*c3*l3)
];
kmy = [...
I1z 0 0
 0 I2z 0
 0 0 I3z
];
cqxmy = [...
0 0 0
 0 0 0
 (c2*k2*(n2-n3)*si)/(2*l2)-(g*m23*(n2-n3)*si)/(4*l2^2) -(c2*k2*(n2-n3)*si)/(2*l2)+(g*m23*(n2-n3)*si)/(4*l2^2) 0
 -(c2*k2*(n2-n3)*si)/(2*l2)+(g*m23*(n2-n3)*si)/(4*l2^2) (c2*k2*(n2-n3)*si)/(2*l2)-(g*m23*(n2-n3)*si)/(4*l2^2) 0
 (c2*k2*(-n2+n3)*si)/(2*l2)-(g*m23*(-n2+n3)*si)/(4*l2^2) -(c2*k2*(-n2+n3)*si)/(2*l2)+(g*m23*(-n2+n3)*si)/(4*l2^2) 0
 -(c2*k2*(-n2+n3)*si)/(2*l2)+(g*m23*(-n2+n3)*si)/(4*l2^2) (c2*k2*(-n2+n3)*si)/(2*l2)-(g*m23*(-n2+n3)*si)/(4*l2^2) 0
];
cxsmy = [...
0 0 0 -((g*m13*n0*n1)/(c1*l1)) 0 0
 0 0 0 0 0 0
 0 0 0 0 0 0
];
xmv = [...
2*c1^2*k1+2*c2^2*k2+(g*m13)/(c1*l1)-(c1*g*m13)/l1+(g*m23)/(c2*l2)-(c2*g*m23)/l2 -2*c2^2*k2-(g*m23)/(c2*l2)+(c2*g*m23)/l2 0
 -2*c2^2*k2-(g*m23)/(c2*l2)+(c2*g*m23)/l2 2*c2^2*k2+2*c3^2*k3+(g*m23)/(c2*l2)-(c2*g*m23)/l2+(g*m3)/(c3*l3)-(c3*g*m3)/l3 -2*c3^2*k3-(g*m3)/(c3*l3)+(c3*g*m3)/l3
 0 -2*c3^2*k3-(g*m3)/(c3*l3)+(c3*g*m3)/l3 2*c3^2*k3+(g*m3)/(c3*l3)-(c3*g*m3)/l3
];
kmv = [...
m1 0 0
 0 m2 0
 0 0 m3
];
cqxmv = [...
-(c1^2*k1)-(g*m13)/(2*c1*l1)+(c1*g*m13)/(2*l1) 0 0
 -(c1^2*k1)-(g*m13)/(2*c1*l1)+(c1*g*m13)/(2*l1) 0 0
 (c2^2*k2)/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) -(c2^2*k2)/2-(g*m23)/(4*c2*l2)+(c2*g*m23)/(4*l2) 0
 (c2^2*k2)/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) -(c2^2*k2)/2-(g*m23)/(4*c2*l2)+(c2*g*m23)/(4*l2) 0
 (c2^2*k2)/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) -(c2^2*k2)/2-(g*m23)/(4*c2*l2)+(c2*g*m23)/(4*l2) 0
 (c2^2*k2)/2+(g*m23)/(4*c2*l2)-(c2*g*m23)/(4*l2) -(c2^2*k2)/2-(g*m23)/(4*c2*l2)+(c2*g*m23)/(4*l2) 0
];
cxsmv = [...
0 0 (-2*c1^3*k1*l1-g*m13+c1^2*g*m13)/(c1*l1) 0 0 0
 0 0 0 0 0 0
 0 0 0 0 0 0
];