function dx = RRrobot(t,x)
dx = zeros(4,1);
dx(1) = x(2);
dx(2) = -3/200/(-18*cos(x(1))*cos(x(3))*sin(x(1))*sin(x(3))+3*sin(x(3))^2+3*cos(x(3))^2+1+9*cos(x(1))^2*sin(x(3))^2+3*cos(x(1))^2+9*sin(x(1))^2*cos(x(3))^2+3*sin(x(1))^2)*(10000*pi+120000*cos(x(1))*cos(x(3))*pi-240000*sin(x(1))*sin(x(3))*x(4)-360000*sin(x(1))*sin(x(3))*x(3)+120000*sin(x(1))*sin(x(3))*pi+300*sin(x(1))*cos(x(3))^3*x(4)^2-300*cos(x(1))*sin(x(3))^3*x(4)^2+300*sin(x(1))*cos(x(3))*x(4)^2*sin(x(3))^2-240000*cos(x(1))*cos(x(3))*x(4)+30000*pi*cos(x(3))^2+30000*pi*sin(x(3))^2+90000*x(2)+100*sin(x(1))*cos(x(3))*x(4)^2-100*cos(x(1))*sin(x(3))*x(4)^2+60000*x(1)-40000*x(4)-60000*x(3)+981*cos(x(3))-360000*cos(x(1))*cos(x(3))*x(3)-600*cos(x(1))^2*cos(x(3))*sin(x(3))*x(2)^2-180000*x(3)*cos(x(3))^2+180000*x(1)*sin(x(3))^2+180000*x(1)*cos(x(3))^2+270000*x(2)*sin(x(3))^2+270000*x(2)*cos(x(3))^2+2943*cos(x(3))*sin(x(3))^2-120000*x(4)*sin(x(3))^2-120000*x(4)*cos(x(3))^2+600*cos(x(1))*cos(x(3))^2*sin(x(1))*x(2)^2-600*sin(x(1))*sin(x(3))^2*cos(x(1))*x(2)^2+600*sin(x(1))^2*sin(x(3))*cos(x(3))*x(2)^2-300*cos(x(1))*sin(x(3))*x(4)^2*cos(x(3))^2-180000*x(3)*sin(x(3))^2+2943*cos(x(3))^3);
dx(3) = x(4);
dx(4) = 3/100*(40000*pi+30000*cos(x(1))*cos(x(3))*pi-120000*sin(x(1))*sin(x(3))*x(4)-180000*sin(x(1))*sin(x(3))*x(3)+30000*sin(x(1))*sin(x(3))*pi-120000*cos(x(1))*cos(x(3))*x(4)+600*cos(x(3))*sin(x(1))*x(2)^2*cos(x(1))^2+300*cos(x(1))*cos(x(3))^2*sin(x(1))*x(4)^2-240000*x(4)*sin(x(1))^2-360000*x(3)*cos(x(1))^2-360000*x(3)*sin(x(1))^2+120000*pi*cos(x(1))^2+120000*pi*sin(x(1))^2+2943*cos(x(1))*cos(x(3))^2+2943*cos(x(3))*sin(x(1))*sin(x(3))+270000*cos(x(1))*cos(x(3))*x(2)+180000*cos(x(1))*cos(x(3))*x(1)+270000*sin(x(1))*sin(x(3))*x(2)+180000*sin(x(1))*sin(x(3))*x(1)-600*sin(x(3))*cos(x(1))^3*x(2)^2+600*cos(x(3))*sin(x(1))^3*x(2)^2-300*cos(x(1))^2*cos(x(3))*sin(x(3))*x(4)^2+300*sin(x(1))^2*sin(x(3))*cos(x(3))*x(4)^2-300*sin(x(1))*sin(x(3))^2*cos(x(1))*x(4)^2-80000*x(4)-120000*x(3)-200*sin(x(3))*cos(x(1))*x(2)^2+200*cos(x(3))*sin(x(1))*x(2)^2-240000*x(4)*cos(x(1))^2-180000*cos(x(1))*cos(x(3))*x(3)-600*sin(x(3))*cos(x(1))*x(2)^2*sin(x(1))^2)/(-18*cos(x(1))*cos(x(3))*sin(x(1))*sin(x(3))+3*sin(x(3))^2+3*cos(x(3))^2+1+9*cos(x(1))^2*sin(x(3))^2+3*cos(x(1))^2+9*sin(x(1))^2*cos(x(3))^2+3*sin(x(1))^2);