function PlotCOG( t,COG )

%-------------------------------------------------------------------------------------
% Evoluçao temporal das coordenadas cartesianas dos sistemas atribuidos as juntas
%-------------------------------------------------------------------------------------
figure(5) %-- Centro de massa --------------------------------------------------------
  subplot(3,1,1)
  plot( t(1,:),COG(1,:,1),'r.', t(2,:),COG(1,:,2),'b.', t(3,:),COG(1,:,3),'g.')
  ylabel('COGx (m)'), title('Centro de Massa'), grid on
  subplot(3,1,2)
  plot( t(1,:),COG(2,:,1),'r.', t(2,:),COG(2,:,2),'b.', t(3,:),COG(2,:,3),'g.')
  ylabel('COGy (m)'), grid on
  subplot(3,1,3)
  plot( t(1,:),COG(3,:,1),'r.', t(2,:),COG(3,:,2),'b.', t(3,:),COG(3,:,3),'g.')
  ylabel('COGz (m)'), grid on
%----------------------------------------------------------------------------------END