from 2-D Robot for Curve Tracing for Educational Purpose by Mathan Chandran
To gain a feel for the robot action.

robdat(x,y,n)
    function yy = robdat(x,y,n)
             cordx = 1:n;
             xx = linspace(1,n,360); 
             x1 = spline(cordx,x,xx);
             y1 = spline(cordx,y,xx);
             yy = [x1',y1'];
             plot(yy(:,1),yy(:,2),x,y);
             
            
             

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