Delta Robot Workspace Analysis by Matlab (Direct Kinetmatic)

Please quote the Matlab calculator for Delta Robot Workspace Analysis project base on the following requirements: 1. The calculator have to be designed by Matlab (2012) 2. Provide all scripts codes with simple descriptions/explainations(%.....) in the codes 3. Input: R, r, L1, L2, and theta(i) for i=1,2,3 4. Output: All possible (ideal) working boundaries graphical solution (end effector location (O')) , Realistic cylindcial working boundary graphical if theta is limited (for example: +ve theta<110 degree and -ve theta<60 degree) Numercial calculator for end effector location O' if R, r, L1, L2, and theta(i) for i=1,2,3 is input 5. Briefly describe the logic of the calculator and 2 sets of data will verify submitted calculator Some of the references are attached.