[theta11,theta12,theta13]=solve('(94*cos(theta13))/5-10*sin(theta11)*sin(theta13)-(79*cos(theta11)*sin(theta12)*sin(theta13))/2 - (59*cos(theta12)*sin(theta11)*sin(theta13))/2=29.4281',' (59*sin(theta11)*sin(theta12))/2 - (79*cos(theta11)*cos(theta12))/2=10.1192','-(94*sin(theta13))/5 - 10*cos(theta13)*sin(theta11) - (79*cos(theta11)*cos(theta13)*sin(theta12))/2 - (59*cos(theta12)*cos(theta13)*sin(theta11))/2=30.8552','theta11,theta12,theta13')
要先把sind角度制的换成sin弧度制函数.否则解方程不认这个基本函数.接出来之后再弧度制再换成角度制就OK了.