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I am currently trying to solve a geometric problem where I have to calculate angles in two connected four bar linkages parallel to a serial chain of rotatory joints (closed-loop kinematic chain).

The angle is calculated with

 > alpha:=arctan(exp_y, exp_x):

The expressions exp_y and exp_x contain long products of sines and cosines of 6 other time-dependant angles, square roots of these products, constant geometric lengths (not time-dependant) and constant geometric angles (not time-dependant).

The lenghts are already assumed positive

 > assume (l1>0): # similar for all lengths l2, l3, ...

The time dependant angles are defined as

> qJ_t := Matrix(6, 1, [qJ1(t), qJ2(t), qJ3(t), qJ4(t), qJ5(t), qJ6(t)]): # generalized coordinates of the system in the sense of technical mechanics

Other assumptions are not set, since the angles can be positive as well as negative.

Calculating this expression takes up to two days on a fast computer. In my opinion this takes much too long compared to other calculations with similar amount of variables (more complex robotic structures).Also, the arctan function does not "calculate" a result, it just writes down "arctan(...)".

Is there a way to speed up this calculation e.g. by using more assumptions?

On the arctan help page, the examples suggest that Maple is trying to already simplify the solution e.g. by drawing Pi out of the solution.






I try make 2 calculation with one commant. So there should be two seperate answers in the last line. Who can help me? So the last line should be 2.387 and 0.

st := time():
ifactor(49! + 1);
(1021) (3119969417) (7374967) (139935066631148413819385559764102\

  5027693) (18503)
time() -st;
st := time():
isprime(49! + 1);
time() -st;

How do I make maple to show the values of my variables in my calculation automatically? I want it to look somewhat like this:

Instead of this:


Dears, When I run calculation in Maple I found an error in matrices. See the file


could you help me about maple
i try to calculating using chevypade rational approximating and the answer for cos(x) xe is(-.221091073962959*T(1, x-1)+.7710737338*T(0, x-1)-0.4212446689e-1*T(2, x-1))/(0.836360586596837e-1*T(1, x-1)+T(0, x-1)+0.3360079945e-1*T(2, x-1)) i can not to convert to rational form as x^^n .maple is not very friendship

Hi, I am completely new to Maple, and I need to use it to optimize my equations in order to make my PLC codes more compressed. I am calculating forward kinematics with the Denavit-Hartenberg method and as such I get long expressions. After a lot of google'ing and frustration, I thought I'd ask here in the hope that one of you might be able to assist me.

I have the following equations;

X := L10*cos(q5) - L16*(sin(q10)*(sin(q5)*sin(q8) - cos(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) - cos(q10)*(sin(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + cos(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6)))) - d2*(cos(q10)*(sin(q5)*sin(q8) - cos(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + sin(q10)*(sin(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + cos(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6)))) + L15*(sin(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + cos(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6))) - L11*cos(q5)*sin(q6) + d1*cos(q5)*cos(q6) - L13*sin(q5)*sin(q8) + L14*cos(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + L13*cos(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7)) - L14*sin(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6)) + L12*cos(q5)*cos(q6)*cos(q7) - L12*cos(q5)*sin(q6)*sin(q7);

Y := L10*sin(q5) - L9 + L16*(sin(q10)*(cos(q5)*sin(q8) - cos(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q10)*(sin(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6)))) + d2*(cos(q10)*(cos(q5)*sin(q8) - cos(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) + sin(q10)*(sin(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6)))) - L15*(sin(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6))) + L13*cos(q5)*sin(q8) - L11*sin(q5)*sin(q6) + d1*cos(q6)*sin(q5) - L14*cos(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - L13*cos(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5)) - L14*sin(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6)) + L12*cos(q6)*cos(q7)*sin(q5) - L12*sin(q5)*sin(q6)*sin(q7);

Z := L15*(cos(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - sin(q8)*sin(q9)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - L11*cos(q6) - L8 - d1*sin(q6) + L16*(cos(q10)*(cos(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - sin(q8)*sin(q9)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - cos(q8)*sin(q10)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - d2*(sin(q10)*(cos(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - sin(q8)*sin(q9)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) + cos(q8)*cos(q10)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - L13*cos(q8)*(cos(q6)*sin(q7) + cos(q7)*sin(q6)) - L14*sin(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - L12*cos(q6)*sin(q7) - L12*cos(q7)*sin(q6) - L14*cos(q9)*sin(q8)*(cos(q6)*sin(q7) + cos(q7)*sin(q6));


I need to optimize these equations, but still keep them separate. I would like to use mutual expressions for the calculations within, but still as I said keep the outputs of X, Y and Z separate.

This is MATLAB code.


Thanks in advance for any help.

Dear Community Members,


We have problem with calculation in Maple v11 and v18. when we make a calculation by using maple v11 and v18, we was not able to get the solution as you see enclosed. when we clicked to "enter + ; ", programme does not run.

1. for example how to convert decimal or integer number into base 3 number, base 5 number etc. to do logical operation with custom logic table for example,


120 special operator 235 




special operator according to logical table is

1st op 2nd op output
0 0 1
0 1 0
1 0 1
1 1 0




=00010100 = 20

Hello everybody

I am working on the bending of FGM plate, and I just used maple for the calculation functions of my problem of the bending of FGM plates.

Can any from the members of mapleprimes one help me to write Navier's equation include below for the bending of the plate because I am new in using Maple 18

alfa=m*pi/a, beta=n*pi/b with m=1,3,5..100 and n=1,3,5...100

Thank's for all 


I set a physical model for my reseach,

equ1 := x^4-5*x

equ2 := 1/x+x^2+3

x is a function of time t and it meets diff(x(t), t) = equi-equ2.

I want to plot the curve of x(t) varying with time

When I use the following command

DEplot({x(0) = 0, diff(x(t), t) = equi-equ2},x(t), t = 0 .. 20)   it shows: Error, (in DEtools/DEplot) called with too few arguments

Who can tell me what is wrong with my calculation? Thanks

Hi there,


I'd like to solve 7th order implicit simultaneous equation such as below, so I tried to do it by solve command.

However the calculation wasn't over although three hours passed.


eq1 := f1(a,b,c,d,e,f,g) = 0;

eq2 := f2(a,b,c,d,e,f,g) = 0;




eq7 := f7(a,b,c,d,e,f,g) = 0;


Just for your information, the eq1 and eq6 are written as follows specifically.

eq1 := -a-b-c-d-e-f-g+0.501857 = 0

eq6 := a*b*c*d*e*f+a*b*c*d*e*g+a*b*c*d*f*g+a*b*c*e*f*g+a*b*d*e*f*g+a*c*d*e*f*g+b*c*d*e*f*g+a*b*c*d*e+a*b*c*d*f+a*b*c*d*g+a*b*c*e*f+a*b*c*e*g+a*b*c*f*g+a*b*d*e*f+a*b*d*e*g+a*b*d*f*g+a*b*e*f*g+a*c*d*e*f+a*c*d*e*g+a*c*d*f*g+a*c*e*f*g+a*d*e*f*g+b*c*d*e*f+b*c*d*e*g+b*c*d*f*g+b*c*e*f*g+b*d*e*f*g+c*d*e*f*g-0.5281141885e-3+1.01894577*10^(-12)*I = 0


And the program code I used is:



Here is the specification of my computer.

OS: Windows 7 Enterprise 64bit

CPU: Intel Core i7-3520M 2.90 GHz

Memory: 4.00 GB


How can I handle this problem? Is the specification not enough to solve the equation? Do I need to leave my computer more and more time?

Any help would be appriciated.

Hello everybody,

I'm trying to solve for a challenging problem : a moving inclined plane with a block

I want to solve for the acceleration components for the block and the plane and the normal force acting on the block.

Let O=(0,0) be an external origin.

Let h be the upper left height of the inclined plane.

Let x1 be the x-position of the center of gravity of the inclined plane.

Let x2 be the x-postion of the center of gravity of the block.

Let y be the y-position of the center of gravity of the block.

Let m1 be the mass of the plane. Let m2 be the mass of the block.

Let  mu[1] be the coeffiction of kinetic friction between the bottom of the inclined plane and the level surface.

Let mu[2]  be the coeffiction of kinetic friction between the block and the upper surface of the inclined plane.

Let theta be the angle of the plane with the horizontal.

Let Fp a force applied to the inclined plane.


With those defined variables, I make two separable free body diagrams for the block and for the inclined plane, indicating all of the external forces acting on each. It then comes those two vectorial equations :

Block : m2a2=Wweight of block+Fplan acting on block+Ffriction from plan to block+Nnormal from plan to block

Plane : m1a1=Wweight of plane+Fpushing force+Fblock acting on plane+Ffriction from level to plan+Nnormal from level to plane+Ffriction from block to plane+Nnormal from block to plane

I am quite not sure whether I should include the Ffriction from block to plane and the Nnormal from block to plane into the plane's acceleration calculation. Am I right ?

I notice that from the geometry of the figure, I can write down the relation : tan(theta)=(h-y)/(x2-x1)

This implies the relation : -a2y=tan(theta)(a2x-a1x) (equation 1)

Writing down the equations for the x- and y- components of the accelerations of the block and of the plane , this yields :

( equation 2) : m2a2x=m1 sqrt(a1x2+a1y2) cos(theta) -    mu[2]  N1 sin(theta) +Ncos(theta


(equation 3) : m2a2y= m2g+m1 sqrt(a1x2+a1y2) sin(theta) +  mu[2]  N1 cos(theta) +Nsin(theta

(equation 4) : m1a1x=Fp - m2 sqrt(a2x2+a2y2)  sin(theta) +  mu[2]  N1 cos(theta) - Ncos(theta

(equation 5) : m1a1y=-m1g  - m2 sqrt(a2x2+a2y2)  cos(theta) - mu[1] N1 + N1 -  mu[2]  N1 sin(theta) -  mu[2]  N1 cos(theta)

Since N1=m1g,  equation 5 becomes : m1a1y= - m2 sqrt(a2x2+a2y2)  cos(theta)   -  mu[2]  N1 sin(theta) -  mu[2]  N1 cos(theta)

I am confused at this stage because a1y=0, that is to say, the plane remains at the ground level surface.

Where am I wrong ? Does this comes from my previous question ?


I want to solve this problem with Maple and plot the solutions. Thank you for any answer !


I  often find mself in the following quandry: I am investigating a problem, I do a few examples, run a do loop for j from1 to 5 to see if that works and then enter

for j from 1 to 200 do  a[j]:=blah, blah,...  end do:

and 15 minutes later nothing has happened. Is the loop finishing up with j = 198 or so or is it stuck at j = 23 and it will take forever to finish? Or perhaps there is an error that turns up for j > 23?

When I think about it I can insert a print(j) command to keep track of this but there are other situations where that doesn't work. For example,

Order := 35; mtaylor(....

When nothing happens is that because the calculation is almost done? or stuck? etc.

Is it possible to take a quick peek at the state of Maple and the decide whtether to continue the computation or abort? If the calculation of mtaylor(... is particularly long I might settle for the 15 coeficients computed so far rather than abort. Can I get at those?

Any advice?



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