What I want to achieve with a command is the following image, in which the elements of a matrix that are not zero are displayed in black

This can be accomplished with the Browse Matrix Dialouge, but I want to make such images part of the worksheet. (Display of the full matrix is important.)
Context: Re-execution of worksheets will allow for quick verification of changes in Jacobians.

Multibody exports from MapleSim to Maple convert a symbolic expression to a rational quotient:

The parameters (parameter "a" above) disappear in the exported equations. How can I prevent this (conversion of sqrt3 and disapprence of "a")?

MB_exports_with_rational_quotients_instead_of_symbols.msim

Expressions of the kind

A cos(phi) - B sin(phi)

are solved by Maple to phi=arctan(A/B)

In such cases: Is there a way to get a solution phi=arctan(A,B) other than in the attached?

If not: Can the attached solution be done more efficient? There are quite some commands involved.

(It may happen that Maple returns "minus arctan". Then the attached solution does not work and has to be preplaced by something more complicated. A solution that always work would be desireable)

MB_exports_Schatz_Mechanism.mw

The Examples section on the help page of a command is important for learning, but cannot cover all uses. This is especially true for general purpose commands like "solve" or "simplify". Searching all help pages that contain the word "solve" results in too many irrelevant hits that do not contain examples.

Why does adding a bracket to a command not filter for help pages with examples using the command?

Inside a help page Find/Replace finds such strings.

Inverse kinematics can be done in several ways (this webinar gives a very good overview https://www.youtube.com/watch?v=X0OZ9EM6dns). A effective and simple method is to run a model in reverse direction. This can’t be done with causal modeling tools, where information flow is fixed by design (https://de.maplesoft.com/support/help/MapleSim/view.aspx?path=MapleSimUserGuide/Chapter01).

Inverse kinematics, which is possible with acausal modeling tools, is only an example for running a model in the reverse (i.e., inverted) direction.

Without success, I tried to find a reference who first came up with that elegant approach.

Anyone knows more?