diff --git a/buildPRM.m b/buildPRM.m
new file mode 100644
index 0000000..e7137cc
--- /dev/null
+++ b/buildPRM.m
@@ -0,0 +1,43 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% function retval = buildPRM()
+% Task:
+%
+% Inputs:
+%	- AL1: Length of first link
+% - AL2: Length of second link
+% Outputs:
+%	-
+% author: Traglia Nicolas, nicolas.traglia@ecam.fr
+% date: 22/11/2023
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+function retval = buildPRM (AL1, AL2, nOfPoints)
+  q1q2_valid = []; #Joint values q1 and q2 (q1 in ref of axis x, q2 in ref of arm1
+  counter=0;
+while (size(q1q2_valid,1)<nOfPoints)
+  q1 = rand()*360.0; #Random angle 1 (dg)
+  q2 = rand()*360.0; #Random angle 2 (dg)
+  theta = [q1 q2];
+  d = [0 0];
+  a = [AL1 AL2];
+  alpha = [0 0];
+  wTee = dh2ForwardKinematics(theta, d, a, alpha, 1);
+  position_ee = wTee(1:2,end);
+  eeHittingObstacle=0;
+  % verify if point is possible
+  if (position_ee(2)>=AL1)
+    eeHittingObstacle=1;
+  elseif (position_ee(2)<=-AL1)
+    eeHittingObstacle=1;
+  elseif (position_ee(1)<=AL2 && position_ee(1)>=-AL2 && position_ee(2)<=AL2 && position_ee(2)>=-AL2)
+    eeHittingObstacle=1;
+  endif
+  %  Store point
+  if(eeHittingObstacle==0)
+    q1q2_valid=[q1q2_valid; theta]
+    x = cos(q1)*AL1+cos(q1+q2)*AL2
+    y = sin(q1)*AL1+sin(q1+q2)*AL2
+    counter
+  endif
+  counter=counter+1;
+ endwhile
+endfunction