DynamicsModelMATLABSymbolic.zip_integral sliding_sliding_sliding

function dy = three_dof_arm_dyn(y,u) y1 = y(1); y2 = y(2); y3 = y(3); y4 = y(4); y5 = y(5); y6 = y(6); u1 = u(1); u2 = u(2); u3 = u(3); L1=1; L2=1; L3=1; M1=1; M2=1; M3=1; g=9.8; dy1 = y2; dy2 = (L2*L3*M2*u1 - L2*L3*M2*u2 + L2*L3*M3*u1 - L2*L3*M3*u2 - L1*L3*M2*u2*cos(y3) + L1*L3*M2*u3*cos(y3) - L1*L3*M3*u2*cos(y3) + L1*L3*M3*u3*cos(y3) - L2*L3*M3*u1*cos(y5)^2 + L2*L3*M3*u2*cos(y5)^2 + L1*L2^2*L3*M2^2*y2^2*sin(y3) + L1*L2^2*L3*M2^2*y4^2*sin(y3) - L1*L2*L3*M2^2*g*cos(y1) + (L1^2*L2*L3*M2^2*y2^2*sin(2*y3))/2 + L1*L2*M2*u3*sin(y3)*sin(y5) + L1*L2*M3*u3*sin(y3)*sin(y5) + L1*L3*M3*u2*cos(y3)*cos(y5)^2 - L1*L3*M3*u3*cos(y3)*cos(y5)^2 + L1*L2^2*L3*M2*M3*y2^2*sin(y3) + L1*L2^2*L3*M2*M3*y4^2*sin(y3) - L1*L2*L3*M1*M2*g*cos(y1) - L1*L2*L3*M1*M3*g*cos(y1) - L1*L2*L3*M2*M3*g*cos(y1) + 2*L1*L2^2*L3*M2^2*y2*y4*sin(y3) + (L1^2*L2*L3*M2*M3*y2^2*sin(2*y3))/2 - L1*L3*M3*u2*cos(y5)*sin(y3)*sin(y5) + L1*L3*M3*u3*cos(y5)*sin(y3)*sin(y5) + L1*L2*L3*M2^2*g*cos(y1)*cos(y3)^2 - L1*L2*L3*M2^2*g*cos(y3)*sin(y1)*sin(y3) + 2*L1*L2^2*L3*M2*M3*y2*y4*sin(y3) + L1*L2*L3*M2*M3*g*cos(y1)*cos(y3)^2 + L1*L2*L3*M1*M3*g*cos(y1)*cos(y5)^2 + L1*L2*L3^2*M2*M3*y2^2*cos(y5)*sin(y3) + L1*L2*L3^2*M2*M3*y4^2*cos(y5)*sin(y3) + L1*L2*L3^2*M2*M3*y6^2*cos(y5)*sin(y3) + 2*L1*L2*L3^2*M2*M3*y2*y4*cos(y5)*sin(y3) + 2*L1*L2*L3^2*M2*M3*y2*y6*cos(y5)*sin(y3) + 2*L1*L2*L3^2*M2*M3*y4*y6*cos(y5)*sin(y3) - L1*L2*L3*M2*M3*g*cos(y3)*sin(y1)*sin(y3))/(L1^2*L2*L3*(M2^2 - M2^2*cos(y3)^2 + M1*M2 + M1*M3 + M2*M3 - M2*M3*cos(y3)^2 - M1*M3*cos(y5)^2)); dy3 = y4; dy4 = -(2*L1^2*L3*M1*u3 - 2*L1^2*L3*M1*u2 - 2*L1^2*L3*M2*u2 + 2*L2^2*L3*M2*u1 + 2*L1^2*L3*M2*u3 - L1^2*L3*M3*u2 - 2*L2^2*L3*M2*u2 + L2^2*L3*M3*u1 + L1^2*L3*M3*u3 - L2^2*L3*M3*u2 + L1*L2^2*M2*u3*cos(y3 - y5) + L1*L2^2*M3*u3*cos(y3 - y5) - L1^2*L2*M2*u3*cos(2*y3 + y5) - L1^2*L2*M3*u3*cos(2*y3 + y5) - L2^2*L3*M3*u1*cos(2*y5) + L2^2*L3*M3*u2*cos(2*y5) + L1^2*L3*M3*u2*cos(2*y3 + 2*y5) - L1^2*L3*M3*u3*cos(2*y3 + 2*y5) - L1*L2^2*M2*u3*cos(y3 + y5) - L1*L2^2*M3*u3*cos(y3 + y5) + 2*L1^2*L2*M1*u3*cos(y5) + L1^2*L2*M2*u3*cos(y5) + L1^2*L2*M3*u3*cos(y5) + 2*L1*L2^3*L3*M2^2*y2^2*sin(y3) + 2*L1^3*L2*L3*M2^2*y2^2*sin(y3) + 2*L1*L2^3*L3*M2^2*y4^2*sin(y3) - L1*L2*L3*M3*u1*cos(y3 + 2*y5) + 2*L1*L2*L3*M3*u2*cos(y3 + 2*y5) - L1*L2*L3*M3*u3*cos(y3 + 2*y5) + L1^2*L2*L3*M2^2*g*cos(y1 + y3) - L1*L2^2*L3*M2^2*g*cos(y1) - L1^2*L2*L3*M2^2*g*cos(y1 - y3) + L1*L2^2*L3*M2^2*g*cos(y1 + 2*y3) + 2*L1^2*L2^2*L3*M2^2*y2^2*sin(2*y3) + L1^2*L2^2*L3*M2^2*y4^2*sin(2*y3) + 2*L1*L2*L3*M2*u1*cos(y3) - 4*L1*L2*L3*M2*u2*cos(y3) + L1*L2*L3*M3*u1*cos(y3) + 2*L1*L2*L3*M2*u3*cos(y3) - 2*L1*L2*L3*M3*u2*cos(y3) + L1*L2*L3*M3*u3*cos(y3) + 2*L1^3*L2*L3*M1*M2*y2^2*sin(y3) + L1^3*L2*L3*M1*M3*y2^2*sin(y3) + 2*L1*L2^3*L3*M2*M3*y2^2*sin(y3) + 2*L1^3*L2*L3*M2*M3*y2^2*sin(y3) + 2*L1*L2^3*L3*M2*M3*y4^2*sin(y3) + 4*L1*L2^3*L3*M2^2*y2*y4*sin(y3) - (L1^2*L2*L3*M1*M3*g*cos(y1 + y3 + 2*y5))/2 - L1^3*L2*L3*M1*M3*y2^2*sin(y3 + 2*y5) + L1*L2^2*L3^2*M2*M3*y2^2*sin(y3 + y5) + L1*L2^2*L3^2*M2*M3*y4^2*sin(y3 + y5) + L1*L2^2*L3^2*M2*M3*y6^2*sin(y3 + y5) + L1^2*L2*L3*M1*M2*g*cos(y1 + y3) + (L1^2*L2*L3*M1*M3*g*cos(y1 + y3))/2 + L1^2*L2*L3*M2*M3*g*cos(y1 + y3) - 2*L1^2*L2*L3^2*M1*M3*y2^2*sin(y5) - L1^2*L2*L3^2*M2*M3*y2^2*sin(y5) - 2*L1^2*L2*L3^2*M1*M3*y4^2*sin(y5) - L1^2*L2*L3^2*M2*M3*y4^2*sin(y5) - 2*L1^2*L2*L3^2*M1*M3*y6^2*sin(y5) - L1^2*L2*L3^2*M2*M3*y6^2*sin(y5) - 2*L1*L2^2*L3*M1*M2*g*cos(y1) - L1*L2^2*L3*M1*M3*g*cos(y1) - L1*L2^2*L3*M2*M3*g*cos(y1) + (L1^2*L2*L3*M1*M3*g*cos(y1 - y3 - 2*y5))/2 + L1*L2^2*L3^2*M2*M3*y2^2*sin(y3 - y5) + L1^2*L2*L3^2*M2*M3*y2^2*sin(2*y3 + y5) + L1*L2^2*L3^2*M2*M3*y4^2*sin(y3 - y5) + L1^2*L2*L3^2*M2*M3*y4^2*sin(2*y3 + y5) + L1*L2^2*L3^2*M2*M3*y6^2*sin(y3 - y5) + L1^2*L2*L3^2*M2*M3*y6^2*sin(2*y3 + y5) - L1^2*L2*L3*M1*M2*g*cos(y1 - y3) - (L1^2*L2*L3*M1*M3*g*cos(y1 - y3))/2 - L1^2*L2*L3*M2*M3*g*cos(y1 - y3) + L1*L2^2*L3*M2*M3*g*cos(y1 + 2*y3) + (L1*L2^2*L3*M1*M3*g*cos(y1 - 2*y5))/2 + (L1*L2^2*L3*M1*M3*g*cos(y1 + 2*y5))/2 + 2*L1^2*L2^2*L3*M2*M3*y2^2*sin(2*y3) - L1^2*L2^2*L3*M1*M3*y2^2*sin(2*y5) + L1^2*L2^2*L3*M2*M3*y4^2*sin(2*y3) - L1^2*L2^2*L3*M1*M3*y4^2*sin(2*y5) + 2*L1^2*L2^2*L3*M2^2*y2*y4*sin(2*y3) + 4*L1*L2^3*L3*M2*M3*y2*y4*sin(y3) + 2*L1*L2^2*L3^2*M2*M3*y2*y4*sin(y3 + y5) + 2*L1*L2^2*L3^2*M2*M3*y2*y6*sin(y3 + y5) + 2*L1*L2^2*L3^2*M2*M3*y4*y6*sin(y3 + y5) - 4*L1^2*L2*L3^2*M1*M3*y2*y4*sin(y5) - 2*L1^2*L2*L3^2*M2*M3*y2*y4*sin(y5) - 4*L1^2*L2*L3^2*M1*M3*y2*y6*sin(y5) - 2*L1^2*L2*L3^2*M2*M3*y2*y6*sin(y5) - 4*L1^2*L2*L3^2*M1*M3*y4*y6*sin(y5) - 2*L1^2*L2*L3^2*M2*M3*y4*y6*sin(y5) + 2*L1*L2^2*L3^2*M2*M3*y2*y4*sin(y3 - y5) + 2*L1^2*L2*L3^2*M2*M3*y2*y4*sin(2*y3 + y5) + 2*L1*L2^2*L3^2*M2*M3*y2*y6*sin(y3 - y5) + 2*L1^2*L2*L3^2*M2*M3*y2*y6*sin(2*y3 + y5) + 2*L1*L2^2*L3^2*M2*M3*y4*y6*sin(y3 - y5) + 2*L1^2*L2*L3^2*M2*M3*y4*y6*sin(2*y3 + y5) + 2*L1^2*L2^2*L3*M2*M3*y2*y4*sin(2*y3) - 2*L1^2*L2^2*L3*M1*M3*y2*y4*sin(2*y5))/(L1^2*L2^2*L3*(M2^2 - M2^2*cos(2*y3) + 2*M1*M2 + M1*M3 + M2*M3 - M2*M3*cos(2*y3) - M1*M3*cos(2*y5))); dy5 = y6; dy6 = -(L1*L3^2*M3^2*u2 - L1*L2^2*M3^2*u3 - L1*L2^2*M2^2*u3 - L1*L3^2*M3^2*u3 - L2*L3^2*M3^2*u1*cos(y3) + L2*L3^2*M3^2*u2*cos(y3) - 2*L1*L2^2*M1*M2*u3 - 2*L1*L2^2*M1*M3*u3 + 2*L1*L3^2*M1*M3*u2 - 2*L1*L2^2*M2*M3*u3 - 2*L1*L3^2*M1*M3*u3 + 2*L1*L3^2*M2*M3*u2 - 2*L1*L3^2*M2*M3*u3 + L1*L2^2*M2^2*u3*cos(2*y3) + L1*L2^2*M3^2*u3*cos(2*y3) + L1*L3^2*M3^2*u2*sin(2*y3)*sin(2*y5) - L1*L3^2*M3^2*u3*sin(2*y3)*sin(2*y5) + L1*L2*L3*M3^2*u2*cos(y5) - 2*L1*L2*L3*M3^2*u3*cos(y5) - 2*L2*L3^2*M2*M3*u1*cos(y3) + 2*L2*L3^2*M2*M3*u2*cos(y3) - 2*L2^2*L3*M3^2*u1*sin(y3)*sin(y5) + 2*L2^2*L3*M3^2*u2*sin(y3)*sin(y5) + L2*L3^2*M3^2*u1*cos(2*y5)*cos(y3) - L2*L3^2*M3^2*u2*cos(2*y5)*cos(y3) + 2*L1*L2^2*M2*M3*u3*cos(2*y3) - L2*L3^2*M3^2*u1*sin(2*y5)*sin(y3) + L2*L3^2*M3^2*u2*sin(2*y5)*sin(y3) - L1*L3^2*M3^2*u2*cos(2*y3)*cos(2*y5) + L1*L3^2*M3^2*u3*cos(2*y3)*cos(2*y5) - L1*L2^2*L3^2*M2*M3^2*y2^2*sin(2*y3) - L1*L2^2*L3^2*M2^2*M3*y2^2*sin(2*y3) + 2*L1*L2^2*L3^2*M1*M3^2*y2^2*sin(2*y5) - L1*L2^2*L3^2*M2*M3^2*y4^2*sin(2*y3) - L1*L2^2*L3^2*M2^2*M3*y4^2*sin(2*y3) + 2*L1*L2^2*L3^2*M1*M3^2*y4^2*sin(2*y5) + L1*L2^2*L3^2*M1*M3^2*y6^2*sin(2*y5) + 2*L1*L2*L3*M1*M3*u2*cos(y5) - 4*L1*L2*L3*M1*M3*u3*cos(y5) + L1*L2*L3*M2*M3*u2*cos(y5) - 2*L1*L2*L3*M2*M3*u3*cos(y5) - 2*L2^2*L3*M2*M3*u1*sin(y3)*sin(y5) + 2*L2^2*L3*M2*M3*u2*sin(y3)*sin(y5) + 2*L1*L2*L3^3*M1*M3^2*y2^2*sin(y5) + 2*L1*L2^3*L3*M1*M3^2*y2^2*sin(y5) + L1*L2*L3^3*M2*M3^2*y2^2*sin(y5) + 2*L1*L2*L3^3*M1*M3^2*y4^2*sin(y5) + 2*L1*L2^3*L3*M1*M3^2*y4^2*sin(y5) + L1*L2*L3^3*M2*M3^2*y4^2*sin(y5) + 2*L1*L2*L3^3*M1*M3^2*y6^2*sin(y5) + L1*L2*L3^3*M2*M3^2*y6^2*sin(y5) - L1*L2*L3*M3^2*u2*cos(2*y3)*cos(y5) + 2*L1*L2*L3*M3^2*u3*cos(2*y3)*cos(y5) + L1*L2*L3*M3^2*u2*sin(2*y3)*sin(y5) - 2*L1*L2*L3*M3^2*u3*sin(2*y3)*sin(y5) - L1^2*L2*L3^2*M1*M3^2*y2^2*sin(y3) - 2*L1^2*L2*L3^2*M2*M3^2*y2^2*sin(y3) - 2*L1^2*L2*L3^2*M2^2*M3*y2^2*sin(y3) - 2*L1*L2^2*L3^2*M2*M3^2*y2*y4*sin(2*y3) - 2*L1*L2^2*L3^2*M2^2*M3*y2*y4*sin(2*y3) + 4*L1*L2^2*L3^2*M1*M3^2*y2*y4*sin(2*y5) + 2*L1*L2^2*L3^2*M1*M3^2*y2*y6*sin(2*y5) + 2*L1*L2^2*L3^2*M1*M3^2*y4*y6*sin(2*y5) + 2*L1*L2^3*L3*M1*M2*M3*y2^2*sin(y5) + 2*L1*L2^3*L3*M1*M2*M3*y4^2*sin(y5) - L1*L2*L3*M2*M3*u2*cos(2*y3)*cos(y5) + 2*L1*L2*L3*M2*M3*u3*cos(2*y3)*cos(y5) + 4*L1*L2*L3^3*M1*M3^2*y2*y4*sin(y5) + 4*L1*L2^3*L3*M1*M3^2*y2*y4*sin(y5) + 2*L1*L2*L3^3*M2*M3^2*y2*y4*sin(y5) + 4*L1*L2*L3^3*M1*M3^2*y2*y6*sin(y5) + 2*L1*L2*L3^3*M2*M3^2*y2*y6*sin(y5) + 4*L1*L2*L3^3*M1*M3^2*y4*y6*sin(y5) + 2*L1*L2*L3^3*M2*M3^2*y4*y6*sin(y5) + L1*L2*L3*M2*M3*u2*sin(2*y3)*sin(y5) - 2*L1*L2*L3*M2*M3*u3*sin(2*y3)*sin(y5) - L1*L2*L3^3*M2*M3^2*y2^2*cos(2*y3)*sin(y5) - L1*L2*L3^3*M2*M3^2*y2^2*sin(2*y3)*cos(y5) - L1*L2*L3^3*M2*M3^2*y4^2*cos(2*y3)*sin(y5) - L1*L2*L3^3*M2*M3^2*y4^2*sin(2*y3)*cos(y5) - L1*L2*L3^3*M2*M3^2*y6^2*cos(2*y3)*sin(y5) - L1*L2*L3^3*M2*M3^2*y6^2*sin(2*y3)*cos(y5) + 2*L1^2*L2^2*L3*M1*M3^2*y2^2*cos(y3)*sin(y5) - 2*L1^2*L2*L3^2*M1*M2*M3*y2^2*sin(y3) + L1*L2*L3^2*M1*M3^2*g*sin(y1)*sin(y3) + 2*L1*L2*L3^2*M2*M3^2*g*sin(y1)*sin(y3) + 2*L1*L2*L3^2*M2^2*M3*g*sin(y1)*sin(y3) + L1