【求助】程序错误

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b1=[-380,0,0]';b2=[-150,-350,0]';b3=[150,-350,0]';b4=[194,129,-20]';b5=[-194,129,-20]';b6=[0,-241,-20]';

syms m1 m2 m3 m4 m5 m6;
c1=[m1-680,0,0]';c2=[-150,m2-650,0]';
c3=[150,m3-650,0]';c4=[194,129,m4-320]';
c5=[-194,129,m5-320]';c6=[0,-241,m6-320]';

a1=[-880,0,0]';a2=[-150,-850,0]';
a3=[150,-850,0]';a4=[194,129,-520]';
a5=[-194,129,-520]';a6=[0,-241,-520]';

a=pi/9;b=0;c=0;
R1=[cos(a),-sin(a),0;sin(a),cos(a),0;0,0,1];
R2=[cos(b),0,sin(b);0,1,0;-sin(b),0,cos(b)];
R3=[1,0,0;0,cos(c),-sin(c);0,sin(c),cos(c)];
R=R1*R2*R3;

X=-75:15:75;Y=-75:15:75;Z=0;
for i=1:11
for j=1:11
P=[X(i),Y(j),0]';
B1=R*b1+P;
d1=B1-c1;
d1'*d1==300*300;

f1=-d1/300;
g1=a1-c1;
h1=g1/sqrt(g1'*g1);
p1=acos(f1'*(R*h1));
q1=acos(f1'*h1);

if p1>=0 & p1<=0.21*pi
q1>=0 & q1<=0.21*pi
abs(m1)<=75
plot(X,Y)
end
end
end
帮我看看这个程序吧，大虾们，谢了！程序有错误，如何改正？

[dnping]

请将错误信息贴出来……