名前: 奥村晴彦 日時: 2002-04-23 21:14:42 IPアドレス: 61.206.197.*
>>8112 \documentclass{jarticle} \usepackage{amsmath,amssymb} \begin{document} {\small \begin{align*} {}&\left[ \begin{array}{ccccccccc} m_{2} & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0\\ 0 & m_{2} & 0 & 0 & 0 & 0 & 0 & 0 & 0\\ 0 & 0 & m_{2} & 0 & 0 & 0 & 0 & 0 & 0\\ 0 & 0 & 0 & m_{3} & 0 & 0 & 0 & 0 & 0\\ 0 & 0 & 0 & 0 & m_{3} & 0 & 0 & 0 & 0\\ 0 & 0 & 0 & 0 & 0 & m_{3} & 0 & 0 & 0\\ 0 & 0 & 0 & 0 & 0 & 0 & I_{1} & 0 & 0\\ 0 & 0 & 0 & 0 & 0 & 0 & 0 & I_{2} & 0\\ 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & I_{3}\\ \end{array} \right] \left\{ \begin{array}{c} \ddot{x_{2}}\\ \ddot{y_{2}}\\ \ddot{z_{2}}\\ \ddot{x_{3}}\\ \ddot{y_{3}}\\ \ddot{z_{3}}\\ \ddot{\theta_{1}}\\ \ddot{\theta_{2}}\\ \ddot{\theta_{3}}\\ \end{array} \right\}\\ +& \left[ \begin{array}{ccccccccc} k_{bx2} & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0\\ 0 & k_{by2} & 0 & 0& 0 & 0 & 0 & 0 & 0\\ 0 & 0 & k_{bz2}+k_{ma} & 0 & 0 & -k_{ma} & 0 & r_{2}k_{ma} & r_{3}k_{ma}\\ 0 & 0 & 0 & k_{bx3} & 0 & 0 & 0 & 0 & 0\\ 0 & 0 & 0 & 0 & k_{by3} & 0 & 0 & 0 & 0\\ 0 & 0 & -k_{ma} & 0 & 0 & k_{bz3}+k_{ma} & 0 & -r_{2}k_{ma} & -r_{3}k_{ma}\\ 0 & 0 & 0 & 0 & 0 & 0 & k_{\theta 1} & -k_{\theta 1} & 0\\ 0 & 0 & r_{2}k_{ma} & 0 & 0 & -r_{2}k_{ma} & 0 & k_{\theta 1}+r^{2}_{2}k_{ma} & r_{2}r_{3}k_{ma}\\ 0 & 0 & r_{3}k_{ma} & 0 & 0 & -r_{3}k_{ma} & 0 & r_{2}r_{3}k_{ma} & k_{\theta 4}+r^{2}_{3}k_{ma}\\ \end{array} \right] \left\{ \begin{array}{c} x_{2}\\ y_{2}\\ z_{2}\\ x_{3}\\ y_{3}\\ z_{3}\\ \theta_{1}\\ \theta_{2}\\ \theta_{3}\\ \end{array} \right\} \end{align*}} \end{document}
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