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msm/ShoulderModel_3DOF/GeneralizedForces.m
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GeneralizedForces.m
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			Q(1,1) = - F_final(1)(cos(q3)sin(q2)(Dir_inT(1, 1)Rho_inT(2, 1) - Dir_inT(2, 1)Rho_inT(1, 1)) - cos(q2)(Dir_inT(1, 1)Rho_inT(3, 1) - Dir_inT(3, 1)Rho_inT(1, 1)) + sin(q2)sin(q3)(Dir_inT(2, 1)Rho_inT(3, 1) - Dir_inT(3, 1)Rho_inT(2, 1))) - F_final(2)(cos(q3)sin(q2)(Dir_inT(1, 2)Rho_inT(2, 2) - Dir_inT(2, 2)Rho_inT(1, 2)) - cos(q2)(Dir_inT(1, 2)Rho_inT(3, 2) - Dir_inT(3, 2)Rho_inT(1, 2)) + sin(q2)sin(q3)(Dir_inT(2, 2)Rho_inT(3, 2) - Dir_inT(3, 2)Rho_inT(2, 2))) - F_final(3)(cos(q3)sin(q2)(Dir_inT(1, 3)Rho_inT(2, 3) - Dir_inT(2, 3)Rho_inT(1, 3)) - cos(q2)(Dir_inT(1, 3)Rho_inT(3, 3) - Dir_inT(3, 3)Rho_inT(1, 3)) + sin(q2)sin(q3)(Dir_inT(2, 3)Rho_inT(3, 3) - Dir_inT(3, 3)Rho_inT(2, 3))) - F_final(4)(cos(q3)sin(q2)(Dir_inT(1, 4)Rho_inT(2, 4) - Dir_inT(2, 4)Rho_inT(1, 4)) - cos(q2)(Dir_inT(1, 4)Rho_inT(3, 4) - Dir_inT(3, 4)Rho_inT(1, 4)) + sin(q2)sin(q3)(Dir_inT(2, 4)Rho_inT(3, 4) - Dir_inT(3, 4)Rho_inT(2, 4))) - F_final(5)(cos(q3)sin(q2)(Dir_inT(1, 5)Rho_inT(2, 5) - Dir_inT(2, 5)Rho_inT(1, 5)) - cos(q2)(Dir_inT(1, 5)Rho_inT(3, 5) - Dir_inT(3, 5)Rho_inT(1, 5)) + sin(q2)sin(q3)(Dir_inT(2, 5)Rho_inT(3, 5) - Dir_inT(3, 5)Rho_inT(2, 5))) - F_final(6)(cos(q3)sin(q2)(Dir_inT(1, 6)Rho_inT(2, 6) - Dir_inT(2, 6)Rho_inT(1, 6)) - cos(q2)(Dir_inT(1, 6)Rho_inT(3, 6) - Dir_inT(3, 6)Rho_inT(1, 6)) + sin(q2)sin(q3)(Dir_inT(2, 6)Rho_inT(3, 6) - Dir_inT(3, 6)Rho_inT(2, 6)));
			Q(2,1) = - F_final(1)(cos(q3)(Dir_inT(2, 1)Rho_inT(3, 1) - Dir_inT(3, 1)Rho_inT(2, 1)) - sin(q3)(Dir_inT(1, 1)Rho_inT(2, 1) - Dir_inT(2, 1)Rho_inT(1, 1))) - F_final(2)(cos(q3)(Dir_inT(2, 2)Rho_inT(3, 2) - Dir_inT(3, 2)Rho_inT(2, 2)) - sin(q3)(Dir_inT(1, 2)Rho_inT(2, 2) - Dir_inT(2, 2)Rho_inT(1, 2))) - F_final(3)(cos(q3)(Dir_inT(2, 3)Rho_inT(3, 3) - Dir_inT(3, 3)Rho_inT(2, 3)) - sin(q3)(Dir_inT(1, 3)Rho_inT(2, 3) - Dir_inT(2, 3)Rho_inT(1, 3))) - F_final(4)(cos(q3)(Dir_inT(2, 4)Rho_inT(3, 4) - Dir_inT(3, 4)Rho_inT(2, 4)) - sin(q3)(Dir_inT(1, 4)Rho_inT(2, 4) - Dir_inT(2, 4)Rho_inT(1, 4))) - F_final(5)(cos(q3)(Dir_inT(2, 5)Rho_inT(3, 5) - Dir_inT(3, 5)Rho_inT(2, 5)) - sin(q3)(Dir_inT(1, 5)Rho_inT(2, 5) - Dir_inT(2, 5)Rho_inT(1, 5))) - F_final(6)(cos(q3)(Dir_inT(2, 6)Rho_inT(3, 6) - Dir_inT(3, 6)Rho_inT(2, 6)) - sin(q3)(Dir_inT(1, 6)Rho_inT(2, 6) - Dir_inT(2, 6)Rho_inT(1, 6)));
			Q(3,1) = F_final(1)(Dir_inT(1, 1)Rho_inT(3, 1) - Dir_inT(3, 1)Rho_inT(1, 1)) + F_final(2)(Dir_inT(1, 2)Rho_inT(3, 2) - Dir_inT(3, 2)Rho_inT(1, 2)) + F_final(3)(Dir_inT(1, 3)Rho_inT(3, 3) - Dir_inT(3, 3)Rho_inT(1, 3)) + F_final(4)(Dir_inT(1, 4)Rho_inT(3, 4) - Dir_inT(3, 4)Rho_inT(1, 4)) + F_final(5)(Dir_inT(1, 5)Rho_inT(3, 5) - Dir_inT(3, 5)Rho_inT(1, 5)) + F_final(6)(Dir_inT(1, 6)Rho_inT(3, 6) - Dir_inT(3, 6)Rho_inT(1, 6));