Delta Robot Workspace Analysis by Matlab

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 codes with simple descriptions/explainations(%.....) in the codes 3. Input: R, r, L1, L2, L3 (middle rod length at the center(optional)) and D (the distance between the base plate and the end effector) (I have no idea about the distance D is equal to L3 or not in the analysis; L3 should be shorter than D) 4. Output: All possible working boundaries (end effector location (O')) graphical solution, minimum & maximum theta in the analysis and the realistic cylindcial working boundary; (prefer GUI simulation) 5. Briefly describe the logic of the calculator Some of the references are attached.