再试试看

试试公式录入：

 

$$
\begin{align}
& \theta_6=round(\psi,7)\\[3mm]
& \psi=\left\{
\begin{matrix}
\begin{aligned}
& atan2(\psi_1) & \theta_5=0\\[3mm]
& \left\{
\begin{array}\\
\begin{aligned}
& atan2(\psi_2) & \theta_5=\pi\\
& atan2(\psi_3) & else
\end{aligned}
\end{array}
\right\} & else
\end{aligned}
\end{matrix}
\right.\\
& \psi_1=\left\{
\begin{array}
((s_\gamma\,c_\alpha+c_\gamma\,c_\beta\,s_\alpha)\,s_{23}-(c_\gamma\,s_\beta\,s_1+s_\gamma\,s_\alpha\,c_1-c_\gamma\,c_\beta\,c_\alpha\,c_1)\,c_{23},\\
(s_\gamma\,c_\beta\,s_\alpha-c_\gamma\,c_\alpha)\,s_{23}+(c_\gamma\,s_\alpha\,c_1-s_\gamma\,s_\beta\,s_1+s_\gamma\,c_\beta\,c_\alpha\,c_1)\,c_{23}
\end{array}
\right.\\
& \psi_2=\left\{
\begin{array}\\
\begin{aligned}
& c_{23}\,c_1\,(s_\gamma\,s_\alpha-c_\gamma\,c_\beta\,c_\alpha)-s_{23}\,(s_\gamma\,c_\alpha+c_\gamma\,c_\beta\,s_\alpha)+(c_2\,c_3-s_2)\,(c_\gamma\,s_\beta\,s_1),\\
& (c_\gamma\,c_\alpha-s_\gamma\,c_\beta\,s_\alpha)\,s_{23}-(c_\gamma\,s_\alpha\,c_1-s_\gamma\,s_\beta\,s_1)\,2\,c_{23}
\end{aligned}
\end{array}
\right.\\
& \psi_3=\left\{
\begin{array}\\
\begin{aligned}
& \frac{(-s_\gamma\,c_\alpha-c_\gamma\,c_\beta\,s_\alpha)\,c_{23}-(c_\gamma\,s_\beta\,s_1+s_\gamma\,s_\alpha\,c_1-c_\gamma\,c_\beta\,c_\alpha\,c_1)\,s_{23}}{s_5},\\
& \frac{(c_\gamma\,c_\alpha-s_\gamma\,c_\beta\,s_\alpha)\,c_{23}+(c_\gamma\,s_\alpha\,c_1-s_\gamma\,s_\beta\,s_1+s_\gamma\,c_\beta\,c_\alpha\,c_1)\,s_{23}}{s_5}
\end{aligned}
\end{array}
\right.
\end{align}
$$

 

发布MC需要贴图……

再试试看。