l1 = 10;
l2 = 7;
l3 = 6;
theta1 = 0:0.1:pi/2;
theta2 = 0:0.1:pi;
theta3 = 0:0.1:pi;
[THETA1, THETA2, THETA3] = meshgrid(theta1, theta2,theta3);
X = l1 * cos(THETA1) + l2 * cos(THETA1+THETA2) + l3 * cos(THETA1+THETA2+THETA3) ;
Y = l1 * sin(THETA1) + l2 * sin(THETA1+THETA2) + l3 * sin(THETA1+THETA2+THETA3) ;
X1 = reshape(X, size(X,1), size(X,2)*size(X,3));
Y1 = reshape(Y, size(Y,1), size(Y,2)*size(Y,3));
plot(X1, Y1);
U = l1 * cos(THETA1) + l2 * cos(THETA1+THETA2);
V = l1 * sin(THETA1) + l2 * sin(THETA1+THETA2);
U1 = reshape(U, size(U,1), size(U,2)*size(U,3));
V1 = reshape(V, size(V,1), size(V,2)*size(V,3));
data1 = [X(:) Y(:) U(:) V(:) THETA1(:)];
data2 = [X(:) Y(:) U(:) V(:) THETA2(:)];
data3 = [X(:) Y(:) U(:) V(:) THETA3(:)];