Elke1 (A Robotics path planning problem, uses bspline library sio nsips AMPL = 0; subject to tcons2j1: -1 <= teta1d1/(c[1,1]*g) <= 1; subject to tcons2j2: -1 <= teta2d1/(c[2,1]*g) <= 1; subject to tcons2j3: -1 <= teta3d1/(c[3,1]*g) <= 1; subject to tcons3j1: -1 <= (teta1d2-teta1d1*(gd1/g))/(c[1,2]*(g)^2) <= 1; subject to tcons3j2: -1 <= (teta2d2-teta2d1*(gd1/g))/(c[2,2]*(g)^2) <= 1; subject to tcons3j3: -1 <= (teta3d2-teta3d1*(gd1/g))/(c[3,2]*(g)^2) <= 1; subject to tcons4j1: -1 <= (teta1d3-3*teta1d2*(gd1/g)+teta1d1*((3*(gd1)^2-g*gd2)/(g)^2))/ (c[1,3]*(g)^3) <= 1; subject to tcons4j2: -1 <= (teta2d3-3*teta2d2*(gd1/g)+teta2d1*((3*(gd1)^2-g*gd2)/(g)^2))/ (c[2,3]*(g)^3) <= 1; subject to tcons4j3: -1 <= (teta3d3-3*teta3d2*(gd1/g)+teta3d1*((3*(gd1)^2-g*gd2)/(g)^2))/ (c[3,3]*(g)^3) <= 1; ]]>