how to solve robot dynamic equation with ODE45?

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Muhammad Qasim
Muhammad Qasim 2016년 2월 9일
I have an equation of the type as following
M1*x1'' + M2*x2'' + C1*x1'+C2*x2'+ D1*(x1'x2') + G =Tau
How to solve it ? PS I know how to solve it when only one variable is involved.

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