How can I find the partial derivative w.r.t angles

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RoBoTBoY on 9 Dec 2020

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https://au.mathworks.com/matlabcentral/answers/688324-how-can-i-find-the-partial-derivative-w-r-t-angles

Good evening!

I have this:

And I want to know how can I find this with Matlab, w.r.t q1 and q2

in order to verify my results.

Thanks in advance!

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