plotworkspace - Plot workspace of n-DOF planar robot

This function plots a workspace for a planar n-DOF revolute or prismatic given DH parameters and the constraints of all variables.

% drawworkspace
%{
This function plots a workspace for a planar n-DOF revolute or prismatic
given DH parameters and the constraints of all variables.

This function uses Robotics Toolbox by Peter Corke which can be
downloaded from :
https://petercorke.com/wordpress/toolboxes/robotics-toolbox
----------------------------------------------
Inputs
DH DH parameters each row is a link
q a cell input contains constraints for all variables
ordered from first link to last link.
---------------------------------------------------------------------
Example
a1 = 0.5;
a2 = 0.3;
a3 = 0.2;
DH(1) = Link([0 0 a1 0]);
DH(2) = Link([0 0 a2 0]);
DH(3) = Link([0 0 a3 0]);
th1 = (-pi/6:0.05:pi/6) ;
th2 = (-2*pi/3:0.05:2*pi/3);
th3 = (-pi/2:0.05:pi/2) ;
q = {th1,th2,th3};

All copyrights go to Mohammad Al-Fetyani
University of Jordan