function DesenharRobo( P,T,H,C,ball )
                    
   [AZ,EL] = view; clf
  
%-- Superficie de contacto -----------------------------------------
% fill3([-0.1 0.5 0.5 -0.1],[-0.2 -0.2 0.2 0.2],[0.0 0.0 0.0 0.0],'c','EdgeColor','c','Visible','on')
 axis([-0.1 0.5 -0.2 0.2 0 0.3]), axis('off'), axis('equal'), 
 view(AZ,EL), hold on

%-- Elos mecanicos: : endoesqueleto ("stick diagram") ------------------------------------------------------------
 H1= plot3( P(1,1:2),P(2,1:2),P(3,1:2),'b', ...
            P(1,3:4),P(2,3:4),P(3,3:4),'b', ...
            ball(1,:),ball(2,:),zeros(1,size(ball,2)),'ko', 'Visible','on' );
 set(H1,'LineWidth', 2.0)
 xlabel(' X (m) '), ylabel(' Y (m) '), zlabel(' Z (m) ')         
%-- Juntas rotacionais: 12 cilindros -----------------------------------------------------------------------------
 for i=1:size(C,3),  surf( [C(1,:,i); C(2,:,i)],  [C(3,:,i); C(4,:,i)],...
                           [C(5,:,i); C(6,:,i)], 'Visible','on' ), end 
%-- Secçao do Tronco ---------------------------------------------------------------------------------------------
 for i=1:size(T,3), fill3(T(1,:,i),T(2,:,i),T(3,:,i),'y','Visible','on'); end  
%-- Secçao da Pan&Tilt -------------------------------------------------------------------------------------------
 for i=1:size(H,3), fill3(H(1,:,i),H(2,:,i),H(3,:,i),'r','Visible','on'); end  
%-- PAUSADA... ---------------------------------------------------------------------------------------------------
%  pause(0.001)

%  set(h,'XData',dot_X,'YData',dot_Y) 
%  drawnow