from sympy import *
from sympy.matrices import *

q1 = Symbol('q1')
q2 = Symbol('q2')
q3 = Symbol('q3')


A = MatrixSymbol('A', 3, 3)
B = MatrixSymbol('B', 3, 3)
I = Identity(3)

print (A*B)**-1
print (exp(q1*A)*exp(q2*B))**-1 # the inversion is not computed
print (exp(q1*A)*exp(q2*B) * I)**-1 #inversion is computed if we add I
print (exp(q1*A)*exp(q2*B) * I).diff(q1) * (exp(q1*A)*exp(q2*B) * I)**-1 # The expression is not simplified