http://www.reddit.com/r/matlab/comments/174lto/matlab_noobie_needing_help/

gistfile1.matlab

alpha=1/sqrt(2);
% Joint 2 
i=1;
A(i,2)=1;
A(i,6)=-1;
b(i)=0;
i=i+1;
A(i,3)=1;
b(i)=10;
% Joint 3
i=i+1;
A(i,1)=alpha;
A(i,4)=-1;
A(i,5)=-alpha;
b(i)=0;
i=i+1;
A(i,1)=alpha;
A(i,3)=1;
A(i,5)=alpha;
b(i)=0;
% Joint 4
i=i+1;
A(i,4)=1;
A(i,8)=-1;
b(i)=0;
i=i+1;
A(i,7)=1;
b(i)=0;
% Joint 5
i=i+1;
A(i,5)=alpha;
A(i,6)=1;
A(i,9)=-alpha;
A(i,10)=-1;
b(i)=0;
i=i+1;
A(i,5)=alpha;
A(i,7)=1;
A(i,9)=alpha;
b(i)=15;
% Joint 6
i=i+1;
A(i,10)=1;
A(i,13)=-1;
b(i)=0;
i=i+1;
A(i,11)=1;
b(i)=20;
% Joint 7
i=i+1;
A(i,8)=1;
A(i,9)=alpha;
A(i,12)=-alpha;
b(i)=0;

i=i+1;
A(i,9)=alpha;
A(i,11)=1;
A(i,12)=alpha;
b(i)=0;
% Joint 8
i=i+1;
A(i,13)=1;
A(i,12)=alpha;
b(i)=0;

solution=A\b';
for i=1:length(solution)
   fprintf('f[%2d]= %10f\n',i,solution(i));
end