I am having some trouble when I try to simplify certain trigonometic
expressions
For instance: after a loop using rotation matrices I obtain a matrix
with elements like
[ COS(q4 + q3 + q2 + q1) + COS(q4 + q3 + q2 - q1) ]
[ ----------------------------------------------- ]
[ 2 ]
[ ]
(D46) Col 1 = [ SIN(q4 + q3 + q2 + q1) - SIN(q4 + q3 + q2 - q1) ]
[ ----------------------------------------------- ]
[ 2 ]
[ ]
[ SIN(q4 + q3 + q2) ]
but I could not obtain a simpler expression like
[ cos(q4+q3+q2)*cos(q1)]
[ sin(q4+q3+q2)*cos(q1)]
[ sin(q4+q3+q2) ]
which I intend to make another substitution like
[c234*c1]
[s234*c1]
[s234 ]
as the process fails at the first time the result becomes incredibly
large.