Using cylinder to represent robot joint

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Cheng Yoong el 7 de Dic. de 2011

Cerrada: MATLAB Answer Bot el 20 de Ag. de 2021

I'm developing a robot simulation GUI. Each robot link was represent by a stick as shown in figure below:

I wish to use cylinder to represent link joint,as shown in figure below:

I have x,y,z coordinates for point2,point3 and point4. How can i manipulate this data to generate the cylinder?

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