function MovePtP(qi,qf,l0,l1,l2,l3,l4,l5,r0,r1,r2,r3,r4,r5,m0,m1,m2,m3,m4,m5)

DIM = 100;
if qf(1) == qi(1), ang1(1:DIM+1) = qf(1); else ang1 = qi(1):( (qf(1)-qi(1))/100 ):qf(1); end
if qf(2) == qi(2), ang2(1:DIM+1) = qf(2); else ang2 = qi(2):( (qf(2)-qi(2))/100 ):qf(2); end
if qf(3) == qi(3), ang3(1:DIM+1) = qf(3); else ang3 = qi(3):( (qf(3)-qi(3))/100 ):qf(3); end
if qf(4) == qi(4), ang4(1:DIM+1) = qf(4); else ang4 = qi(4):( (qf(4)-qi(4))/100 ):qf(4); end
if qf(5) == qi(5), ang5(1:DIM+1) = qf(5); else ang5 = qi(5):( (qf(5)-qi(5))/100 ):qf(5); end

for k=1:length(ang1),
    q = [ang1(k) ang2(k) ang3(k) ang4(k) ang5(k)];
    P = CinDir5dof(ang1(k),ang2(k),ang3(k),ang4(k),ang5(k),l0,l1,l2,l3,l4,l5);
    Rasto(:,k) = [P(13); P(14); P(15)];
    [C1,C2,C3,C4,C5] = CoordJuntas( ang1(k),ang2(k),ang3(k),ang4(k),ang5(k),l0,l1,l2,l3,l4,l5 );
    COG = RobCOG( q,l0,l1,l2,l3,l4,l5,r0,r1,r2,r3,r4,r5,m0,m1,m2,m3,m4,m5 );
    [AZ,EL] = view;
    DesenharRobo( P, C1, C2, C3, C4, C5, COG, Rasto, AZ, EL )
    pause(0.01)
end