Appendix C

The following is the final derivative of Jacobian for RRP:RRR manipulator. Maple and Mathematic are used to find the final solution. (The rest of Appendix C is not included)

DJ[1,1]:=-(a1*cos(theta1)*dtheta1) - a2*cos(theta1)*cos(theta2)*dtheta1- a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - d2*dtheta1*sin(alpha1)*sin(theta1) + a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) + a2*dtheta2*sin(theta1)*sin(theta2) - d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) - dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) - d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[1,2]:=-(a1*cos(theta1)*dtheta1) - a2*cos(theta1)*cos(theta2)*dtheta1 - a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - d2*dtheta1*sin(alpha1)*sin(theta1) + a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) + a2*dtheta2*sin(theta1)*sin(theta2) - d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) - dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) - d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[1,3]:=-(a1*cos(theta1)*dtheta1) - a2*cos(theta1)*cos(theta2)*dtheta1 - a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - d2*dtheta1*sin(alpha1)*sin(theta1) + a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) + a2*dtheta2*sin(theta1)*sin(theta2) - d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) - dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) - d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[1,4]:=-(a1*cos(theta1)*dtheta1) - a2*cos(theta1)*cos(theta2)*dtheta1 - a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - d2*dtheta1*sin(alpha1)*sin(theta1) + a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) + a2*dtheta2*sin(theta1)*sin(theta2) - d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) - dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) - d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - (alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[1,5]:=-(a1*cos(theta1)*dtheta1) - a2*cos(theta1)*cos(theta2)*dtheta1 - a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - d2*dtheta1*sin(alpha1)*sin(theta1) + a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) + a2*dtheta2*sin(theta1)*sin(theta2) - d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) - dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) - d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[1,6]:=-(a1*cos(theta1)*dtheta1) - a2*cos(theta1)*cos(theta2)*dtheta1 - a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - d2*dtheta1*sin(alpha1)*sin(theta1) + a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) + a2*dtheta2*sin(theta1)*sin(theta2) - d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) - dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) - d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[2,1]:=d2*cos(theta1)*dtheta1*sin(alpha1) - a1*dtheta1*sin(theta1) - a2*cos(theta2)*dtheta1*sin(theta1) - a2*cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - a2*cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - a2*cos(theta1)*dtheta2*sin(theta2) + a3*cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + dd3*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) + d3*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) + a3*(-(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3) + d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[2,2]:=-(sin(alpha1)*sin(theta1)*(a2*cos(theta2)*dtheta2*sin(alpha1) + a3*cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) + dd3*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2)) + d3*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2) - a3*cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3) + d6*(- (cos(theta5)*(- (cos(alpha3)*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2)) - cos(alpha2)*cos(theta3)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta2) - cos(theta2)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4)) + dtheta5*(- (cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2) *sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3)) + cos(theta4)*(cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) - cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3)) + (- (cos(alpha2)*cos(alpha3)*cos(theta3)*dtheta2*sin(alpha1)*sin(theta2)) + dtheta2*sin(alpha1)*sin(alpha2)*sin(alpha3)*sin(theta2) - cos(alpha3)*cos(theta2)*dtheta2*sin(alpha1)*sin(theta3))*sin(theta4) - dtheta4*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3))*sin(theta4))*sin(theta5)))) - cos(theta1)*dtheta1*sin(alpha1)*(d2*cos(alpha1) + d3*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2)) + a2*sin(alpha1)*sin(theta2) + a3*cos(theta3)*sin(alpha1)*sin(theta2) + a3*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3) + d6*(-(cos(theta5)*(- (cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))) + (cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4))*sin(thet a5))) + cos(alpha1)*(d2*cos(theta1)*dtheta1*sin(alpha1) - a2*cos(theta2)*dtheta1*sin(theta1) - a2*cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - a2*cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - a2*cos(theta1)*dtheta2*sin(theta2) + a3*cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + dd3*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) + d3*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) + a3*(-(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3) + d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ));

DJ[2,3]:=cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2);

DJ[2,4]:=-(d6*(-(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))) + cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) + sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*(-(cos(theta5)*(- (cos(alpha3)*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2)) - cos(alpha2)*cos(theta3)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta2) - cos(theta2)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4)) + dtheta5*(- (cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2) *sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3)) + cos(theta4)*(cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) - cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3)) + (- (cos(alpha2)*cos(alpha3)*cos(theta3)*dtheta2*sin(alpha1)*sin(theta2)) + dtheta2*sin(alpha1)*sin(alpha2)*sin(alpha3)*sin(theta2) - cos(alpha3)*cos(theta2)*dtheta2*sin(alpha1)*sin(theta3))*sin(theta4) - dtheta4*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3))*sin(theta4))*sin(theta5))) - d6*(-(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))) + cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*(- (cos(theta5)*(-(cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))) + (cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4))*sin(thet a5)) + d6*(cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2)) - cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) + sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ) + d6*(cos(alpha3)*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2) + cos(alpha2)*cos(theta3)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta2) + cos(theta2)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta3))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5));

DJ[2,5]:=-(d6*(cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) - (cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*(- (cos(theta5)*(- (cos(alpha3)*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2)) - cos(alpha2)*cos(theta3)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta2) - cos(theta2)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4)) + dtheta5*(- (cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2) *sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3)) + cos(theta4)*(cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) - cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3)) + (- (cos(alpha2)*cos(alpha3)*cos(theta3)*dtheta2*sin(alpha1)*sin(theta2)) + dtheta2*sin(alpha1)*sin(alpha2)*sin(alpha3)*sin(theta2) - cos(alpha3)*cos(theta2)*dtheta2*sin(alpha1)*sin(theta3))*sin(theta4) - dtheta4*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3))*sin(theta4))*sin(theta5))) - d6*(- (cos(theta4)*dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))) + cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) - (cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3))* sin(theta4))*(-(cos(theta5)*(- (cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))) + (cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4))*sin(thet a5)) + d6*(cos(theta4)*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin( alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3)) - (cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3))*sin(theta4))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ) + d6*(cos(theta4)*(- (cos(alpha2)*cos(alpha3)*cos(theta3)*dtheta2*sin(alpha1)*sin(theta2)) + dtheta2*sin(alpha1)*sin(alpha2)*sin(alpha3)*sin(theta2) - cos(alpha3)*cos(theta2)*dtheta2*sin(alpha1)*sin(theta3)) - cos(theta4)*dtheta4*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4) - (cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) - cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4))* (- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5));

DJ[2,6]:=0;

DJ[3,1]:=0;

DJ[3,2]:=cos(theta1)*dtheta1*sin(alpha1)*(- (d2*cos(theta1)*sin(alpha1)) + a2*cos(theta2)*sin(theta1) + a2*cos(alpha1)*cos(theta1)*sin(theta2) + a3*cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + d3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) + a3*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3) + d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(the ta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5))) + cos(theta1)*sin(alpha1)*(d2*cos(theta1)*dtheta1*sin(alpha1) - a2*cos(theta2)*dtheta1*sin(theta1) - a2*cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - a2*cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - a2*cos(theta1)*dtheta2*sin(theta2) + a3*cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + dd3*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) + d3*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) + a3*(-(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3) + d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) )) - dtheta1*sin(alpha1)*sin(theta1)*(a2*cos(theta1)*cos(theta2) + d2*sin(alpha1)*sin(theta1) - a2*cos(alpha1)*sin(theta1)*sin(theta2) + d3*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) + a3*cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3) + d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5))) + sin(alpha1)*sin(theta1)*(a2*cos(theta1)*cos(theta2)*dtheta1 + a2*cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 + d2*dtheta1*sin(alpha1)*sin(theta1) - a2*cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - a2*dtheta2*sin(theta1)*sin(theta2) + d3*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) + a3*cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + dd3*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) + a3*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3) + d6*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ));

DJ[3,3]:=dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2);

DJ[3,4]:=d6*(-(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))) + cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(the ta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5)) - d6*(- (cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))) + cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ) - d6*(-(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))) + cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) + sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5)) + d6*(- (cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))) + cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) + sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[3,5]:=d6*(- (cos(theta4)*dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))) + cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) - (cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3))* sin(theta4))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(the ta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5)) - d6*(cos(theta4)*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos( theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) - (cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ) - d6*(- (cos(theta4)*dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) - (cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3))* sin(theta4))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))) + (cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(the ta5)) + d6*(cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) - (cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*(- (cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) );

DJ[3,6]:=0;

DJ[4,1]:=0;

DJ[4,2]:=cos(theta1)*dtheta1*sin(alpha1);

DJ[4,3]:=0;

DJ[4,4]:=-(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))) + cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3);

DJ[4,5]:=-(cos(theta4)*dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))) + cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) - (cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3))* sin(theta4);

DJ[4,6]:=-(cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) - cos(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*sin(alpha2)*sin(theta1) + cos(theta1)*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(- (cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta1)*cos(theta2) - cos(alpha1)*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*sin(theta1)) + sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2)*dtheta1) - cos(alpha2)*cos(theta1)*cos(theta2)*dtheta2 + cos(theta1)*dtheta1*sin(alpha1)*sin(alpha2) + cos(alpha2)*dtheta1*sin(theta1)*sin(theta2) + cos(alpha1)*cos(alpha2)*dtheta2*sin(theta1)*sin(theta2)) + sin(alpha3)*(cos(alpha2)*cos(theta1)*dtheta1*sin(alpha1) + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta1*sin(alpha2) + cos(theta1)*cos(theta2)*dtheta2*sin(alpha2) - dtheta1*sin(alpha2)*sin(theta1)*sin(theta2) - cos(alpha1)*dtheta2*sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(-(cos(theta2)*dtheta1*sin(theta1)) - cos(alpha1)*cos(theta2)*dtheta2*sin(theta1) - cos(alpha1)*cos(theta1)*dtheta1*sin(theta2) - cos(theta1)*dtheta2*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ;

DJ[5,1]:=0;

DJ[5,2]:=dtheta1*sin(alpha1)*sin(theta1);

DJ[5,3]:=0;

DJ[5,4]:=-(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))) + cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) + sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3);

DJ[5,5]:=-(cos(theta4)*dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta4)*(cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4) - (cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3))* sin(theta4);

DJ[5,6]:=-(cos(theta5)*(cos(theta3)*sin(alpha3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) - cos(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - sin(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2)*cos(theta1)*cos(thet a2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta4)) + dtheta5*(cos(theta3)*sin(alpha3)*(cos(alpha1)*cos(alpha2)*cos(theta1)* cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - sin(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha1)*cos(alpha2) *cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2)) + sin(alpha3)*(- (cos(alpha2)*cos(theta1)*sin(alpha1)) - cos(alpha1)*cos(theta1)*cos(theta2)*sin(alpha2) + sin(alpha2)*sin(theta1)*sin(theta2)) - cos(alpha3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2))*sin(theta3)) + cos(theta4)*(cos(theta3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2)) + (- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2))*sin(theta3)) - dtheta4*(cos(theta3)*(cos(theta2)*sin(theta1) + cos(alpha1)*cos(theta1)*sin(theta2)) + (cos(alpha1)*cos(alpha2)*cos(theta1)*cos(theta2) - cos(theta1)*sin(alpha1)*sin(alpha2) - cos(alpha2)*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4) + (cos(alpha3)*cos(theta3)*(- (cos(alpha1)*cos(alpha2)*cos(theta2)*dtheta1*sin(theta1)) - cos(alpha2)*cos(theta2)*dtheta2*sin(theta1) + dtheta1*sin(alpha1)*sin(alpha2)*sin(theta1) - cos(alpha2)*cos(theta1)*dtheta1*sin(theta2) - cos(alpha1)*cos(alpha2)*cos(theta1)*dtheta2*sin(theta2)) + sin(alpha3)*(cos(alpha2)*dtheta1*sin(alpha1)*sin(theta1) + cos(alpha1)*cos(theta2)*dtheta1*sin(alpha2)*sin(theta1) + cos(theta2)*dtheta2*sin(alpha2)*sin(theta1) + cos(theta1)*dtheta1*sin(alpha2)*sin(theta2) + cos(alpha1)*cos(theta1)*dtheta2*sin(alpha2)*sin(theta2)) - cos(alpha3)*(cos(theta1)*cos(theta2)*dtheta1 + cos(alpha1)*cos(theta1)*cos(theta2)*dtheta2 - cos(alpha1)*dtheta1*sin(theta1)*sin(theta2) - dtheta2*sin(theta1)*sin(theta2))*sin(theta3))*sin(theta4))*sin(theta5) ;

DJ[6,1]:=0;

DJ[6,2]:=0;

DJ[6,3]:=0;

DJ[6,4]:=cos(alpha3)*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2) + cos(alpha2)*cos(theta3)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta2) + cos(theta2)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta3);

DJ[6,5]:=cos(theta4)*(- (cos(alpha2)*cos(alpha3)*cos(theta3)*dtheta2*sin(alpha1)*sin(theta2)) + dtheta2*sin(alpha1)*sin(alpha2)*sin(alpha3)*sin(theta2) - cos(alpha3)*cos(theta2)*dtheta2*sin(alpha1)*sin(theta3)) - cos(theta4)*dtheta4*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) - dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4) - (cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) - cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4);

DJ[6,6]:=-(cos(theta5)*(- (cos(alpha3)*dtheta2*sin(alpha1)*sin(alpha2)*sin(theta2)) - cos(alpha2)*cos(theta3)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta2) - cos(theta2)*dtheta2*sin(alpha1)*sin(alpha3)*sin(theta3))) + cos(theta5)*dtheta5*(cos(theta4)*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3)) + (cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3))*sin(theta4)) + dtheta5*(- (cos(alpha3)*(cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))) + cos(theta3)*(cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(alpha3) - sin(alpha1)*sin(alpha3)*sin(theta2)*sin(theta3))*sin(theta5) + (cos(theta4)*dtheta4*(cos(alpha3)*cos(theta3)*(cos(alpha2)*cos(theta2) *sin(alpha1) + cos(alpha1)*sin(alpha2)) + (cos(alpha1)*cos(alpha2) - cos(theta2)*sin(alpha1)*sin(alpha2))*sin(alpha3) - cos(alpha3)*sin(alpha1)*sin(theta2)*sin(theta3)) + cos(theta4)*(cos(theta2)*cos(theta3)*dtheta2*sin(alpha1) - cos(alpha2)*dtheta2*sin(alpha1)*sin(theta2)*sin(theta3)) + (- (cos(alpha2)*cos(alpha3)*cos(theta3)*dtheta2*sin(alpha1)*sin(theta2)) + dtheta2*sin(alpha1)*sin(alpha2)*sin(alpha3)*sin(theta2) - cos(alpha3)*cos(theta2)*dtheta2*sin(alpha1)*sin(theta3))*sin(theta4) - dtheta4*(cos(theta3)*sin(alpha1)*sin(theta2) + (cos(alpha2)*cos(theta2)*sin(alpha1) + cos(alpha1)*sin(alpha2))*sin(theta3))*sin(theta4))*sin(theta5);