(Solved) : Clear Clc Close Phi1 30 Pi 180 Phi2 15 Pi 180 Initial Coordinates Key Points Xb 15 15 15 1 Q29605546 . . . .

clear all;

clc;

close all;

phi1 = 30*pi/180;

phi2 = 15*pi/180;

%Initial coordinates and key points

XB = [-15 15 15 -15];

YB = [80 80 160 160];

XH = [-8 8 8 -8];

YH = [160 160 180 180];

XRL(3,:) = [0 0 0];

YRL(3,:) = [100 55 5];

XLL(3,:) = [0 0 0];

YLL(3,:) = [100 55 5];

XRH(3,:) = [0 0 0];

YRH(3,:) = [150 115 75];

XLH(3,:) = [0 0 0];

YLH(3,:) = [150 115 75];

XRB(3,:) = [0 10];

YRB(3,:) = [ 5 5];

XLB(3,:) = [0 10];

YLB(3,:) = [5 5];

%#########################

%Right leg

XRL(1,1) = XRL(3,1);

XRL(2,1) = XRL(3,1);

XRL(4,1) = XRL(3,1);

XRL(5,1) = XRL(3,1);

YRL(1,1) = YRL(3,1);

YRL(2,1) = YRL(3,1);

YRL(4,1) = YRL(3,1);

YRL(5,1) = YRL(3,1);

XRL(1,2) = XRL(1,1)+45*sin(phi1);

YRL(1,2) = YRL(1,1)-(45*cos(phi1));

XRL(1,3) = XRL(1,2)

YRL(1,3) =