Perform polynomial multiplication and simplify the results, show that ( x - 1 ) ( x + 1 ) ( x 2 + x + 1 ) ( x 2 + 1 ) ( x 2 - x + 1 ) ( x 4 - x 2 + 1 ) simplifies to x 1 2 - 1. Let us now understand the code to get the Jacobian matrix in MATLAB using. Most mathematical expressions can be represented in different, but mathematically equivalent forms and the Symbolic Math Toolbox supports a number of operations, including factoring or expanding expressions, combining terms, rewriting or rearranging expressions, and simplification based on assumptions. The Symbolic Math Toolbox supports the Formula Manipulation and Simplification of mathematical functions. My problem is in the inverse kinematics of the robotic arm, where, the theta2 always affected by theta3 and thus. The position of the robotic arm end-effector is correct for any angle of theta1, theta2, and theta3 between -90 and 90 degrees.