function [ output_args ] = closed_link_draw ...
( theta1, theta2, theta3, theta4, l1, l2, l3, l4, x1, y1, x3, y3 )
% •ÂƒŠƒ“ƒN‹@�\ •`‰æ
    pos(3,:) = [x1,y1];
    pos(2,:) = pos(3,:) + l1*[cos(theta1),sin(theta1)];
    pos(1,:) = pos(2,:) + l2*[cos(theta1+theta2),sin(theta1+theta2)];
    pos(4,:) = [x3,y3];
    pos(5,:) = pos(4,:) + l3*[cos(theta3),sin(theta3)];
    pos(6,:) = pos(5,:) + l4*[cos(theta3+theta4),sin(theta3+theta4)];
    plot(pos(:,1),pos(:,2),'k-');
    hold on;
end
