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並前往https://books.google.com.tw/books?id=bG-QDwAAQBAJ&pg=PA129&lpg=PA129&dq=simscape+multibody&source=bl&ots=Qyt7Bow_0q&sig=ACfU3U3oodVTRQtNaooc5hFeslEVEfHmYg&hl=zh-TW&sa=X&ved=2ahUKEwjfsI6KspL1AhXZgf0HHdjRASMQ6AF6BQjDAhAD

Applications from Engineering with MATLAB Concepts

... + m + m2ö÷øö÷ø (13) m t3 =q&&3 ×(I3' +I3'')-g×l3 × cos(q2 +q3) × æçè3M+m1. Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody 129.

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