中文说明：在仿人机器人研究中，需要进行运动学和动力学分析，本代码将动力学方程进行编写，有助于仿真。
English Description：
In the research of humanoid robot, kinematics and dynamics analysis are needed. This code will write the dynamic equation, which is helpful for simulation.
Kinematics and dynamics analysis of humanoid robot
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中文说明：在仿人机器人研究中，需要进行运动学和动力学分析，本代码将动力学方程进行编写，有助于仿真。
English Description：
In the research of humanoid robot, kinematics and dynamics analysis are needed. This code will write the dynamic equation, which is helpful for simulation.five link biped robot dynamic medel.m