考虑以下矩阵
Ja(t1, t2, t3, t4, t5, t6) =
[ (sin(t5)*(cos(t3)*cos(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)) - sin(t3)*sin(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1))))/5 - sin(t1)/100 - (219*sin(t1)*sin(t2))/1000 - (19*cos(t3)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)))/100 - (21*cos(t3)*cos(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)))/1000 + (21*sin(t3)*sin(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)))/1000, (219*cos(t1)*cos(t2))/1000 + (sin(t5)*(cos(t3)*cos(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)) - sin(t3)*sin(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1))))/5 - (19*cos(t3)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)))/100 - (21*cos(t3)*cos(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)))/1000 + (21*sin(t3)*sin(t4)*(cos(t1)*sin(t2) + cos(t2)*sin(t1)))/1000, (sin(t5)*(cos(t3)*sin(t4)*(cos(t1)*cos(t2) - sin(t1)*sin(t2)) + cos(t4)*sin(t3)*(cos(t1)*cos(t2) - sin(t1)*sin(t2))))/5 - (19*sin(t3)*(cos(t1)*cos(t2) - sin(t1)*sin(t2)))/100 - (21*cos(t3)*sin(t4)*(cos(t1)*cos(t2) - sin(t1)*sin(t2)))/1000 - (21*cos(t4)*sin(t3)*(cos(t1)*cos(t2) - sin(t1)*sin(t2)))/1000, (sin(t5)*(cos(t3)*sin(t4)*(cos(t1)*cos(t2) - sin(t1)*sin(t2)) + cos(t4)*sin(t3)*(cos(t1)*cos(t2) - sin(t1)*sin(t2))))/5 - …