Hello,

i am currently trying to get some equation of motions. For this i have to invert a matrix which looks like this:

A = GL * M * GL.'     (6x6)

M is the massmatrix. GL is a matrix with kinematic constraints because i am working on a closed loop subject. The problem is that GL consists of symbolic trigonometric terms which i can't replace with numbers. Because of the multiplication with the transpose and the massmatrix the elements...