Code_7dofWorkspace

% ----------------------------------- WORKSPACE ANALYSIS ----------------------------------

figure(14785)
s=10;
temp=1;
for theta1=0:0.7:2*pi
    for theta2=0:0.7:pi/2
        for theta3=-pi:0.7:2*pi
            for theta4=0:0.7:2*pi
                for theta5=-pi:0.7:pi
                    for Nl=1:5:10
                        for Nr=1:5:10
                            for theta=0:0.3:2*pi
 
Manipulpos{:,temp}=H_endtip_Ingrond_symb(Nl,Nr,s,theta,theta1,theta2,theta3,theta4,theta5);
 
temp=temp+1;
                            end
                        end
                    end
                end
            end  
        end
    end
end

%% Plotting workspace
figure(1)
temp1=1;
for i=1:temp-1
 x_pos(temp1)=Manipulpos{:,i}(1,1);
 y_pos(temp1)=Manipulpos{:,i}(2,1);
 z_pos(temp1)=Manipulpos{:,i}(3,1);
 temp1=temp1+1;
end

plot3(x_pos,y_pos,z_pos)
xlabel('x');
ylabel('y'); 
zlabel('z');
title('Workspace of the complete robot')