Problemas 1:

0 0 0 0 0 0
0 0 0 0 0 0
0.448 0.894 0 0 0 0
0.448 -0.894 -0.448 0.894 0 0
0 0 1 0 -1 0
(a) = 0 0 0 0 1 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 1
0.707 0.707 0 0 0 0
0.707 -0.707 0 0 -0.707 0.707

1.67 0 0 0 0 0
0 1.67 0 0 0 0
0 0 0.75 0 0 0
0 0 0 0.75 0 0
0 0 0 0 1.67 0
(k) = 0 0 0 0 0 1.67
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
 0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0

0 0 0.448 0.448 0 0
0 0 0.894 -0.894 0 0
0 0 0 -0.448 1 0
0 0 0 0.894 0 0
0 0 0 0 -1 1
(a)t = 0 0 0 0 0 0
0 0 0 0 0 -1
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1 -1 0 0 0 0
0 0 0 0 0 0

0.8909 0.0000 -0.1505 0.3004 -0.2949 0.2949

0.0000 1.7887 0.3004 -0.5994 0.2949 -0.2949
-0.1505 0.3004 1.8205 -0.3004 -1.6700 0.0000
0.3004 -0.5994 -0.3004 0.5994 0.0000 0.0000
-0.2949 0.2949 -1.6700 0.0000 3.6349 -0.2949
(K) = 0.2949 -0.2949 0.0000 0.0000 -0.2949 0.7149
0.0000 0.0000 0.0000 0.0000 -1.6700 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
-0.2949 -0.2949 0.0000 0.0000 0.0000 0.0000
-0.2949 -0.2949 0.0000 0.0000 0.0000 -0.4200

10.205457424 -6.2288111108 14.591159049 -4.031054591 14.591159049 -0.712824636

-6.228811111 5.348213040707 -9.541234529 3.6882961601 -9.541234529 1.4693828976
14.591159049 -9.54123452874 27.60367157 -3.020422885 27.004869175 1.7421907478
-4.031054591 3.688296160131 -3.020422885 5.8630023285 -3.320493884 2.6996366918
(K inv) = 14.591159049 -9.54123452874 27.004869175 -3.320493884 27.004869175 1.7421907478
-0.712824636 1.469382897622 1.7421907478 2.6996366918 1.7421907478 4.4882764053
14.391558251 -9.44121086242 26.605667578 -3.320493884 26.605667578 1.6426136158
0.4209501511 -1.3281064975 -0.249259785 -1.663961141 -0.249259785 -2.564723159
7.6157896557 -6.04574740528 13.054130387 -3.320493884 13.054130387 -1.737691522
4.9310805068 -3.58821656387 8.7710009263 -1.663961141 8.7710009263 -0.314702869
0.4998970669 -0.25050770241 0.7003929361 -0.150035499 0.7003929361 -0.050011833
0.0808261575 1.071669748231 0.9485399542 1.5064972437 0.9485399542 2.5032616686

ucx 389.06362
ucy -344.66153
udx 137.47427
udy -620.88101
uex 164.48066
uey -416.08709
ufx 164.44047
ufy -1741.34269
ugx -1054.65897
ugy -829.24483
uhx -13.58393
uhy -94.25903

e1 -13.583931544
e2 13.58393154402
e3 -133.826907836
e4 -134.228187919
e5 -27.0063899048
e6 0.040188080215
e7 -269.258936006
e8 -268.857655922
e9 216.405097442
e10 217.0501200871
e11 -321.828060083
e12 107.6372520292
e13 108.2822746743

s1 -22.6851656785
s2 22.68516567851
s3 -100.370180877
s4 -100.67114094
s5 -45.1006711409
s6 0.06711409396
s7 -201.944202004
s8 -201.643241942
s9 127.6790074908
s10 128.0595708514
s11 -135.167785235
s12 63.50597869722
 s13 63.88654205785

dx 0.00
dy 0.00
dx 0.00
dy -90.00
ex 0.00
ey -90.00 Ok
fx 0.00
fy -90.00
gx 0.00
gy 0.00
hx 0.00
hy 0.00

-1 0 0 0
0 0 1 0
0 0 -0.448 -0.894
0 0 0 0
0 0 0 0
(aH) = 0 0 0 0
0 0 0 0
0.448 -0.894 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0

-1 0 0 0 0
(aH)t = 0 0 0 0 0
0 1 -0.448 0 0
0 0 -0.894 0 0

rax -67.65
ray 180.27
rbx 67.65
rby 89.73
 0 0 0 0 1 0
0 0 0 0 -1 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
-1 0 0 0 0 0
0.448 0.894 -0.448 -0.894 0 0
0 0 -0.448 0.894 0 0
0 0 -0.707 0.707 0.707 -0.707
0.707 0.707 -0.707 -0.707 0 0
0 0 0 0 0 -1
0 0 0 0 -0.707 -0.707
0 0 0 0 0 0

0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 0
0.75 0 0 0 0 0 0
0 0.75 0 0 0 0 0
0 0 0.59 0 0 0 0
 0 0 0 0.59 0 0 0
0 0 0 0 0.42 0 0
0 0 0 0 0 0.59 0
0 0 0 0 0 0 0.59

0 0 0 0 0 0.707 0.707
0 0 0 0 0 0.707 -0.707
0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 -0.707
0 0 0 0 1 0 0.707
0.448 0 0 0.707 0 0 0
0.894 0 0 0.707 0 0 0
-0.448 -0.448 -0.707 -0.707 0 0 0
-0.894 0.894 0.707 -0.707 0 0 0
0 0 0.707 0 0 -0.707 0
0 0 -0.707 0 -1 -0.707 0

0.0000 0.0000 0.0000 0.0000 -0.2949 -0.2949

0.0000 0.0000 0.0000 0.0000 -0.2949 -0.2949
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
-1.6700 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 -0.4200
2.1154 0.5953 -0.4454 -0.5953 0.0000 0.0000
0.5953 0.8943 -0.5953 -0.8943 0.0000 0.0000
-0.4454 -0.5953 0.8909 0.0000 -0.2949 0.2949
-0.5953 -0.8943 0.0000 1.7887 0.2949 -0.2949
0.0000 0.0000 -0.2949 0.2949 3.9298 0.0000
0.0000 0.0000 0.2949 -0.2949 0.0000 1.0098

14.391558251 0.4209501511 7.6157896557 4.9310805068 0.4998970669 0.0808261575

-9.441210862 -1.328106497 -6.045747405 -3.588216564 -0.250507702 1.0716697482
26.605667578 -0.249259785 13.054130387 8.7710009263 0.7003929361 0.9485399542
-3.320493884 -1.663961141 -3.320493884 -1.663961141 -0.150035499 1.5064972437
26.605667578 -0.249259785 13.054130387 8.7710009263 0.7003929361 0.9485399542
1.6426136158 -2.564723159 -1.737691522 -0.314702869 -0.050011833 2.5032616686
26.805268376 -0.149236119 13.253731186 8.8710245926 0.7003929361 0.8489628221
-0.149236119 23.576936371 16.776618405 11.19249541 0.3509799053 -2.962436308
13.253731186 16.776618405 20.029499781 12.26648805 0.7003929361 -2.531342316
8.8710245926 11.19249541 12.26648805 8.9323853441 0.3509799053 -0.712416019
0.7003929361 0.3509799053 0.7003929361 0.3509799053 0.2994011976 -0.050011833
0.8489628221 -2.962436308 -2.531342316 -0.712416019 -0.050011833 2.8991993129
0 0 0.448 0 0 0 0
0 0 -0.894 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 0
dx 0
dy 0
dx 0
dy -90
ex 0
ey -90
fx 0
fy -90
gx 0
gy 0
hx 0
hy 0
0
0
0
0