a:=sin(theta3(t))*(diff(theta3(t), t))^2*cos(theta1(t))*l1*l3*m3+sin(theta3(t))*(diff(theta3(t), t))^2*cos(theta1(t))*l1*l3*mi+sin(theta3(t))*(diff(theta3(t), t))^2*cos(theta1(t))*l1*l3*m4+l1^2*m2*(diff(theta1(t), t, t))-sin(theta3(t))*(diff(theta3(t), t))^2*cos(theta1(t))*l1*lc3*m3+sin(theta4(t))*(diff(theta4(t), t))^2*cos(theta1(t))*l1*l4*mi+sin(theta4(t))*(diff(theta4(t), t))^2*cos(theta1(t))*l1*l4*m4-sin(theta4(t))*(diff(theta4(t), t))^2*cos(theta1(t))*l1*lc4*m4+sin(theta6(t))*(diff(theta6(t), t))^2*cos(theta1(t))*h2*l1*ml+sin(theta6(t))*(diff(theta6(t), t))^2*cos(theta1(t))*h2*l1*m3+l1^2*ml*(diff(theta1(t), t, t))+l1^2*mr*(diff(theta1(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*l2*ml*(diff(theta2(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*l2*mc*(diff(theta2(t), t, t))+sin(theta5(t))*sin(theta1(t))*h2*l1*mi*(diff(theta5(t), t, t))-cos(theta3(t))*cos(theta1(t))*l1*l3*m4*(diff(theta3(t), t, t))+cos(theta5(t))*cos(theta1(t))*h2*l1*mc*(diff(theta5(t), t, t))+sin(theta6(t))*(diff(theta6(t), t))^2*cos(theta1(t))*h2*l1*mi+sin(theta6(t))*(diff(theta6(t), t))^2*cos(theta1(t))*h2*l1*m4-sin(theta5(t))*(diff(theta5(t), t))^2*cos(theta1(t))*h2*l1*mi-sin(theta5(t))*(diff(theta5(t), t))^2*cos(theta1(t))*h2*l1*m4-sin(theta5(t))*(diff(theta5(t), t))^2*cos(theta1(t))*h2*l1*m3-sin(theta5(t))*(diff(theta5(t), t))^2*cos(theta1(t))*h2*l1*mr-sin(theta5(t))*(diff(theta5(t), t))^2*cos(theta1(t))*h2*l1*mc-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*l2*m3-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*lc2*m2-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*l2*mr+sin(theta2(t))*sin(theta1(t))*l1*l2*ml*(diff(theta2(t), t, t))+cos(theta5(t))*cos(theta1(t))*h2*l1*mi*(diff(theta5(t), t, t))+l1^2*m4*(diff(theta1(t), t, t))+sin(theta5(t))*sin(theta1(t))*h2*l1*m3*(diff(theta5(t), t, t))+cos(theta3(t))*cos(theta1(t))*l1*lc3*m3*(diff(theta3(t), t, t))-sin(theta3(t))*sin(theta1(t))*l1*l3*m4*(diff(theta3(t), t, t))-cos(theta6(t))*cos(theta1(t))*h2*l1*m4*(diff(theta6(t), t, t))-sin(theta4(t))*sin(theta1(t))*l1*l4*m4*(diff(theta4(t), t, t))-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*l2*mi-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*l2*mc-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*l2*ml-sin(theta2(t))*(diff(theta2(t), t))^2*cos(theta1(t))*l1*l2*m4-sin(theta7(t))*(diff(theta7(t), t))^2*cos(theta1(t))*h3*l1*mc-cos(theta4(t))*cos(theta1(t))*l1*l4*mi*(diff(theta4(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*l2*mr*(diff(theta2(t), t, t))-cos(theta6(t))*(diff(theta6(t), t))^2*sin(theta1(t))*h2*l1*mi-cos(theta6(t))*(diff(theta6(t), t))^2*sin(theta1(t))*h2*l1*m4+cos(theta5(t))*(diff(theta5(t), t))^2*sin(theta1(t))*h2*l1*m3+cos(theta5(t))*(diff(theta5(t), t))^2*sin(theta1(t))*h2*l1*mi+cos(theta5(t))*(diff(theta5(t), t))^2*sin(theta1(t))*h2*l1*mc+cos(theta5(t))*(diff(theta5(t), t))^2*sin(theta1(t))*h2*l1*mr+cos(q2(t))*sin(theta1(t))*l1*l2*mi*(diff(theta2(t), t))*(diff(theta1(t), t))+cos(q2(t))*sin(theta1(t))*l1*l2*m4*(diff(theta2(t), t))*(diff(theta1(t), t))+cos(q2(t))*sin(theta1(t))*l1*lc2*m2*(diff(theta2(t), t))*(diff(theta1(t), t))+cos(q2(t))*sin(theta1(t))*l1*l2*m3*(diff(theta2(t), t))*(diff(theta1(t), t))+cos(q2(t))*sin(theta1(t))*l1*l2*mc*(diff(theta2(t), t))*(diff(theta1(t), t))+cos(q2(t))*sin(theta1(t))*l1*l2*ml*(diff(theta2(t), t))*(diff(theta1(t), t))+cos(q2(t))*sin(theta1(t))*l1*l2*mr*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*l2*mc*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*l2*m4*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*l2*mr*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*l2*m3*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*l2*mi*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*l2*ml*(diff(theta2(t), t))*(diff(theta1(t), t))-sin(q2(t))*cos(theta1(t))*l1*lc2*m2*(diff(theta2(t), t))*(diff(theta1(t), t))-cos(theta3(t))*(diff(theta3(t), t))^2*sin(theta1(t))*l1*l3*mi+cos(theta3(t))*(diff(theta3(t), t))^2*sin(theta1(t))*l1*lc3*m3-cos(theta4(t))*(diff(theta4(t), t))^2*sin(theta1(t))*l1*l4*m4-cos(theta4(t))*(diff(theta4(t), t))^2*sin(theta1(t))*l1*l4*mi+cos(theta4(t))*(diff(theta4(t), t))^2*sin(theta1(t))*l1*lc4*m4-cos(theta6(t))*(diff(theta6(t), t))^2*sin(theta1(t))*h2*l1*ml-cos(theta6(t))*(diff(theta6(t), t))^2*sin(theta1(t))*h2*l1*m3-cos(theta3(t))*(diff(theta3(t), t))^2*sin(theta1(t))*l1*l3*m4-cos(theta3(t))*(diff(theta3(t), t))^2*sin(theta1(t))*l1*l3*m3+l1^2*mc*(diff(theta1(t), t, t))-cos(theta4(t))*cos(theta1(t))*l1*l4*m4*(diff(theta4(t), t, t))+cos(theta5(t))*cos(theta1(t))*h2*l1*mr*(diff(theta5(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*lc2*m2*(diff(theta2(t), t, t))+cos(theta1(t))*g*l1*mr+cos(theta1(t))*g*l1*m3+cos(theta1(t))*g*l1*m2+cos(theta1(t))*g*l1*m4+cos(theta1(t))*g*l1*ml+cos(theta1(t))*g*l1*mc+m1*g*lc1*cos(theta1(t))+cos(theta1(t))*g*l1*mi+cos(theta5(t))*cos(theta1(t))*h2*l1*m3*(diff(theta5(t), t, t))-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*l2*m4*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*l2*mc+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*l2*mc*(diff(theta2(t), t))+cos(theta7(t))*(diff(theta7(t), t))^2*sin(theta1(t))*h3*l1*mc+l1^2*m3*(diff(theta1(t), t, t))+l1^2*mi*(diff(theta1(t), t, t))+cos(theta5(t))*(diff(theta5(t), t))^2*sin(theta1(t))*h2*l1*m4-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*l2*m3*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*l2*ml+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*l2*ml*(diff(theta2(t), t))-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*lc2*m2*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*l2*mr+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*l2*mr*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*l2*m4+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*l2*m4*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*l2*mi+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*l2*mi*(diff(theta2(t), t))-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*l2*mr*(diff(theta2(t), t))-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*l2*mi*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*l2*m3+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*l2*m3*(diff(theta2(t), t))-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*l2*mc*(diff(theta2(t), t))-cos(theta2(t))*sin(theta1(t))*(diff(theta1(t), t))*l1*l2*ml*(diff(theta2(t), t))+cos(theta2(t))*(diff(theta2(t), t))^2*sin(theta1(t))*l1*lc2*m2+sin(theta2(t))*cos(theta1(t))*(diff(theta1(t), t))*l1*lc2*m2*(diff(theta2(t), t))+sin(theta2(t))*sin(theta1(t))*l1*l2*m3*(diff(theta2(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*l2*m3*(diff(theta2(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*l2*mi*(diff(theta2(t), t, t))+cos(theta5(t))*cos(theta1(t))*h2*l1*m4*(diff(theta5(t), t, t))+sin(theta2(t))*sin(theta1(t))*l1*l2*mr*(diff(theta2(t), t, t))+m1*lc1^2*(diff(theta1(t), t, t))-sin(theta6(t))*sin(theta1(t))*h2*l1*m4*(diff(theta6(t), t, t))+sin(theta5(t))*sin(theta1(t))*h2*l1*mr*(diff(theta5(t), t, t))+sin(theta5(t))*sin(theta1(t))*h2*l1*mc*(diff(theta5(t), t, t))-cos(theta6(t))*cos(theta1(t))*h2*l1*mi*(diff(theta6(t), t, t))-sin(theta6(t))*sin(theta1(t))*h2*l1*mi*(diff(theta6(t), t, t))-cos(theta6(t))*cos(theta1(t))*h2*l1*m3*(diff(theta6(t), t, t))-sin(theta6(t))*sin(theta1(t))*h2*l1*m3*(diff(theta6(t), t, t))+sin(theta2(t))*sin(theta1(t))*l1*lc2*m2*(diff(theta2(t), t, t))+cos(theta2(t))*cos(theta1(t))*l1*l2*m4*(diff(theta2(t), t, t))+sin(theta2(t))*sin(theta1(t))*l1*l2*mc*(diff(theta2(t), t, t))+sin(theta3(t))*sin(theta1(t))*l1*lc3*m3*(diff(theta3(t), t, t))-cos(theta3(t))*cos(theta1(t))*l1*l3*mi*(diff(theta3(t), t, t))-sin(theta3(t))*sin(theta1(t))*l1*l3*mi*(diff(theta3(t), t, t))-cos(theta3(t))*cos(theta1(t))*l1*l3*m3*(diff(theta3(t), t, t))-sin(theta3(t))*sin(theta1(t))*l1*l3*m3*(diff(theta3(t), t, t))+cos(theta7(t))*cos(theta1(t))*h3*l1*mc*(diff(theta7(t), t, t))-cos(theta6(t))*cos(theta1(t))*h2*l1*ml*(diff(theta6(t), t, t))+sin(theta7(t))*sin(theta1(t))*h3*l1*mc*(diff(theta7(t), t, t))-sin(theta6(t))*sin(theta1(t))*h2*l1*ml*(diff(theta6(t), t, t))+sin(theta4(t))*sin(theta1(t))*l1*lc4*m4*(diff(theta4(t), t, t))+cos(theta4(t))*cos(theta1(t))*l1*lc4*m4*(diff(theta4(t), t, t))-sin(theta4(t))*sin(theta1(t))*l1*l4*mi*(diff(theta4(t), t, t))+sin(theta2(t))*sin(theta1(t))*l1*l2*m4*(diff(theta2(t), t, t))+sin(theta2(t))*sin(theta1(t))*l1*l2*mi*(diff(theta2(t), t, t))+sin(theta5(t))*sin(theta1(t))*h2*l1*m4*(diff(theta5(t), t, t))