1.

1 problema cinematico
L1=1
L2=1
th1=0:(pi/2)/20:pi/2
th2=0:(pi/2)/20:pi/2
px=L1*cos(th1)+L2*cos(th1+th2)
py=L1*sin(th1)+L2*sin(th1+th2)
plot(px,py)
---------------------------------------------------------1.2
function p=pcd(L1,L2,th1,th2)
px=L1*COS(th1)+L2*cos(th1+th2);
px=L1*sin(th1)+L2*sin(th1+th2);
p=[px;py];