能帮我算一个14元的方程组吗 我解了好久都没解出来 谢谢
ksp*(rbs*qs-rbp1*qp1-esp1-xs*cos(a1)-ys*sin(a1))=wsp1
ksp*(rbs*qs-rbp2*qp2-esp2-xs*cos(a2)-ys*sin(a2))=wsp2
ksp*(rbs*qs-rbp3*qp3-esp3-xs*cos(a3)-ys*sin(a3))=wsp3
kpi*(rbp1*qp1-ep1i-xi*cos(b1)-yi*sin(b1))=wp1i
kpi*(rbp2*qp2-ep2i-xi*cos(b2)-yi*sin(b2))=wp2i
kpi*(rbp3*qp3-ep3i-xi*cos(b3)-yi*sin(b3))=wp3i
t-rgs*(wsp1+wsp2+wsp3)=0
wsp1-wp1i=0
wsp2-wp2i=0
wsp3-wp3i=0
wsp1*cos(a1)+wsp2*cos(a2)+wsp3*cos(a3)-ks*xs=0
wsp1*sin(a1)+wsp2*sin(a2)+wsp3*sin(a3)-ks*ys=0
wp1i*cos(b1)+wp2i*cos(b2)+wp3i*cos(b3)-ki*xi=0
wp1i*sin(b1)+wp2i*sin(b2)+wp3i*sin(b3)-ki*yi=0
未知数是qs','qp1','qp2','qp3','xs','ys','wsp1','wsp2','wsp3','wp1i','wp2i','wp3i','xi','yi’
ksp*(rbs*qs-rbp1*qp1-esp1-xs*cos(a1)-ys*sin(a1))=wsp1
ksp*(rbs*qs-rbp2*qp2-esp2-xs*cos(a2)-ys*sin(a2))=wsp2
ksp*(rbs*qs-rbp3*qp3-esp3-xs*cos(a3)-ys*sin(a3))=wsp3
kpi*(rbp1*qp1-ep1i-xi*cos(b1)-yi*sin(b1))=wp1i
kpi*(rbp2*qp2-ep2i-xi*cos(b2)-yi*sin(b2))=wp2i
kpi*(rbp3*qp3-ep3i-xi*cos(b3)-yi*sin(b3))=wp3i
t-rgs*(wsp1+wsp2+wsp3)=0
wsp1-wp1i=0
wsp2-wp2i=0
wsp3-wp3i=0
wsp1*cos(a1)+wsp2*cos(a2)+wsp3*cos(a3)-ks*xs=0
wsp1*sin(a1)+wsp2*sin(a2)+wsp3*sin(a3)-ks*ys=0
wp1i*cos(b1)+wp2i*cos(b2)+wp3i*cos(b3)-ki*xi=0
wp1i*sin(b1)+wp2i*sin(b2)+wp3i*sin(b3)-ki*yi=0
未知数是qs','qp1','qp2','qp3','xs','ys','wsp1','wsp2','wsp3','wp1i','wp2i','wp3i','xi','yi’
