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These are questions asked by Bendesarts


I have two equations (1) and (2) and i want to divide (2) with (3). A good point is that Maple understand division with equations. Nevertheless, I didn't obtain a simplified solution.

Here my code :

eq1:=-sin(alpha0(t))*cos(beta0(t)) = -sin(alpha[1](t))*cos(beta[1](t));
-sin(alpha0(t)) cos(beta0(t)) = -sin(alpha[1](t)) cos(beta[1](t))
eq2:=cos(alpha0(t))*cos(beta0(t)) = cos(alpha[1](t))*cos(beta[1](t));
cos(alpha0(t)) cos(beta0(t)) = cos(alpha[1](t)) cos(beta[1](t))

Here the result obtained :-sin(alpha0(t))/cos(alpha0(t)) = -sin(alpha[1](t))/cos(alpha[1](t))

Consequently, I would like to obtain tan(alpha0(t))=tan(alpha1(t))

Do you have ideas why I didn't obtain a simplified result ? And How can I obtain the solution with tangents ?

Thank you for your help


I would like to determine the position jacobian matrix from a set of constraint equations.

Here my constraint equations :


The jacobian matrix that I would like to determine is :


Can you help me to make a general procedure to calculate a jacobian position matrix from a set of constraint equations ?

Thank you for your help



I would like to simplify this following trigonometric expression :

eq_liaison:= x0(t)-sin(alpha0(t))*sin(gamma0(t))*sin(beta0(t))*xb[1]+sin(alpha0(t))*sin(beta0(t))*cos(gamma0(t))*zb[1]+sin(alpha0(t))*cos(beta0(t))*yb[1]+cos(alpha0(t))*sin(gamma0(t))*zb[1]+cos(alpha0(t))*cos(gamma0(t))*xb[1]+l2[1]*(sin(psi[1](t))*sin(alpha0(t))*sin(gamma0(t))*sin(beta0(t))-cos(psi[1](t))*sin(alpha0(t))*sin(beta0(t))*cos(gamma0(t))-sin(psi[1](t))*cos(alpha0(t))*cos(gamma0(t))-cos(psi[1](t))*cos(alpha0(t))*sin(gamma0(t)))+l3[1]*(sin(theta[1](t))*sin(psi[1](t))*sin(alpha0(t))*sin(beta0(t))*cos(gamma0(t))+sin(theta[1](t))*cos(psi[1](t))*sin(alpha0(t))*sin(gamma0(t))*sin(beta0(t))+cos(theta[1](t))*sin(psi[1](t))*sin(alpha0(t))*sin(gamma0(t))*sin(beta0(t))-cos(theta[1](t))*cos(psi[1](t))*sin(alpha0(t))*sin(beta0(t))*cos(gamma0(t))+sin(theta[1](t))*sin(psi[1](t))*cos(alpha0(t))*sin(gamma0(t))-sin(theta[1](t))*cos(psi[1](t))*cos(alpha0(t))*cos(gamma0(t))-cos(theta[1](t))*sin(psi[1](t))*cos(alpha0(t))*cos(gamma0(t))-cos(theta[1](t))*cos(psi[1](t))*cos(alpha0(t))*sin(gamma0(t)))-xp[1](t) = 0

I would like to make groups like : cos(a)cos(b) - sin(a)sin(b)=cos(a+b)  but keepind the maximum of expression products

On the following example (2 equations below), the function combine(expr,trig) works well 

eq_liaison[1] := cos(gamma(t))*r+(cos(gamma(t))*cos(psi(t))-sin(gamma(t))*sin(psi(t)))*l-x(t) = 0 
eq_liaison[2] := sin(gamma(t))*r+(sin(gamma(t))*cos(psi(t))+cos(gamma(t))*sin(psi(t)))*l = 0

But, I would like maple do only the first simplifications in order to the maximum of expression products. The function combine(expr,trig) goes too far in the first equation and I obtain only expression sums. 

Do you have ideas to simplify the first trigonometric equations
- with groups like : cos(a)cos(b) - sin(a)sin(b)=cos(a+b)
- and keeping products of expressions ?

Thank you for your help


In order to improve the readability of a worksheet, I would like to insert in text lines the equations that I calculate after with a input maple.


Is it possible to add in a text line equations and symbols as we can make with Latex or MathType ? For example, i would be interested to write vectors in a text line.

Thank you for your help.


I have just discovered the existence of element-wise operators which uses the symbol tilde

In the help, I saw this exemple

Vector[column](%id = 18446744073926346622)

which is identic to a result that I can find with map function :

Vector[column](%id = 18446744073926346982)

What can Element-wise operators bring more than the map function ?

Do you often use this symbol ?

Thanks a lot for your information.

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