function PlotGraphics( t,Q,dQ,T,GRF,COP,COG )

global M go

% Plot the graphics of the time evolution ---------------------------------
  figure, plot(t,Q(1,:)*180/pi,'r', t,Q(2,:)*180/pi,'b', t,Q(3,:)*180/pi,'g')
          xlabel('Time (s)'), ylabel('Joint Angles, Q (deg)')
  figure, plot(t,dQ(1,:),'r', t,dQ(2,:),'b', t,dQ(3,:),'g')
          xlabel('Time (s)'), ylabel('Joint Vel, dQ (deg/s)')
  figure, subplot(3,1,1), plot(t,T(1,:),'r'), ylabel('T1 (Nm)')
          subplot(3,1,2), plot(t,T(2,:),'r'), ylabel('T2 (Nm)')
          subplot(3,1,3), plot(t,T(3,:),'r')
          xlabel('Time (s)'), ylabel('T3 (Nm)')
  figure, subplot(3,1,1), plot(t,GRF(1,:),'r'), ylabel('Rt_x (N)')
          subplot(3,1,2), plot(t,GRF(2,:),'r'), ylabel('Rt_y (N)')
          subplot(3,1,3), plot(t,GRF(3,:),'r', [t(1) t(end)],[sum(M)*go sum(M)*go],'k-.')
          xlabel('Time (s)'), ylabel('Rn (N)')
  figure, subplot(2,1,1), plot(t,COP(1,:),'r', t,COG(1,:),'b-.')
          ylabel('COPx (m)')
          subplot(2,1,2), plot(t,COP(2,:),'r', t,COG(2,:),'b-.')
          xlabel('Time (s)'), ylabel('COPy (m)')
  figure, plot(COP(1,:),COP(2,:),'r', COG(1,:),COG(2,:),'b--',...
              [0.075 -0.075 -0.075 0.075 0.075],[0.03 0.03 -0.03 -0.03 0.03],'k')
          axis 'off', axis([-0.075 0.075 -0.03 0.03]), axis 'equal'
          xlabel('COPx (m)'), ylabel('COPy (m)')
%-----------------------------------------------------------------------end
end

