clear all; clc; 
%%STEP 3%%


%ENTER ANGLES OF JOINTS!%%
t1=pi/3;
t2=pi/6;
t3=-pi/8;

l1=1;
l2=1;
l3=0.5;
%Location of base
x0=0;
y0=0;

x1=l1*cos(t1);
x2=x1+l2*cos(t2);
x3=x2+l3*cos(t3)

y1=l1*sin(t1);
y2=y1+l2*sin(t2);
y3=y2+l3*sin(t3)

line([x0 x1],[y0 y1],[0 0],'Marker','.','LineStyle','-')
line([x1 x2],[y1 y2],[0 0],'Marker','.','LineStyle','-')
line([x2 x3],[y2 y3],[0 0],'Marker','.','LineStyle','-')
