function F = fk_score(x)
%  X = fminunc(@myfun,2)
global l1;
global l2;
global x_d;
global y_d;
a1 = x(1);
a2 = x(2);
xx = cos(a1)*l1+cos(a1+a2)*l2;
yy = sin(a1)*l1+sin(a1+a2)*l2;
F = ( x - x_d )*( x - x_d ) + ( y - y_d )*( y - y_d );

global l1;
global l2;
global x_d;
global y_d;

l1 = 1.0;
l2 = 1.0;
x_d = 1.5;
y_d = 0;

[x,fval]=fminunc(@fk_score,[ 0 0 ])
[x,fval]=fminsearch(@fk_score,[ 0 0 ])

x_d = 1.5;
y_d = 1.0;

[x,fval]=fminunc(@fk_score,[ 0 0 ])
[x,fval]=fminsearch(@fk_score,[ 0 0 ])

x_d = 0.1;
y_d = 0.1;

[x,fval]=fminunc(@fk_score,[ 0 0 ])
[x,fval]=fminsearch(@fk_score,[ 0 0 ])

x_d = 0.0;
y_d = 3.0;

[x,fval]=fminunc(@fk_score,[ 0 0 ])
[x,fval]=fminsearch(@fk_score,[ 0 0 ])