function [X, Y] = monipulator(r1, r2, Am, Bm, N)
if nargin < 5
  N = 100;
end

A = linspace(0, Am, N);
B = linspace(0, Bm, N);

X = (r1 + r2) * cos(A);
Y = (r1 + r2) * sin(A);


X = [X, r1* cos(Am) + r2* cos(Am + B)];
Y = [Y, r1* sin(Am) + r2* sin(Am + B)];

At = [fliplr(A), -A];

X = [X, r1* cos(At) + r2* cos(At + B)];
Y = [Y, r1* sin(At) + r2* sin(At + B)];

if Y(end)
  Bs = Am + sin(r1/r2 * sin(Am));
  B = fliplr(linspace(Bs,  Bmax, N));

  X = [X, r1* cos(-Am) + r2* sin(-Am + B)];
  Y = [Y, r1* sin(-Am) + r2* sin(-Am + B)];
end

plot(X, Y)

end