clear all

L0 = 0.4;
L1 = 0.2;
L2 = 0.4;
L3 = 0.25;

alfa = pi/4:pi/30:(4*pi+pi/4);

X0 = [pi/6;
      1.1*pi/2];
  
for j=1:length(alfa),
    
%---- Método de Newton-Raphson ----
Nmax = 10;
for i=1:Nmax,

beta = X0(1);
gama = X0(2);
    
f = [L1*cos(alfa(j)) + L2*cos(beta) - L3*cos(gama) - L0;
     L1*sin(alfa(j)) + L2*sin(beta) - L3*sin(gama)     ];

J = [-L2*sin(beta)  L3*sin(gama);
      L2*cos(beta) -L3*cos(gama)];

X = X0 - J\f;

X0 = X;

end
%----------------------------------

B(j) = X(1);
G(j) = X(2);

X0 = X;

end

for i=1:length(alfa)
    xB = L1*cos(alfa(i));
    yB = L1*sin(alfa(i));
    xC = L3*cos(G(i));
    yC = L3*sin(G(i));
plot([0 xB],[0 yB],'b-')
hold on
plot([L0 L0+xC],[0 yC],'r-')
plot([xB L0+xC],[yB yC],'g-')
hold off
axis([-1 1 -1 1])
pause(0.01)
end