function [t4 t5]=angulos_punho(Qf,DHt,rot_placa)
DHt_final=DHt(1:3,:);
for i=1:size(DHt,1)
    DHt_final(i,1)=DHt(i,1)+Qf(i);
end
AA=Tlinks(DHt_final);
A3=eye(4);

for n=1:size(DHt,1)
A3=A3*AA(:,:,n);
end
Ap=A3\(rot_placa*roty(pi/2));

%com o DH do punho
t4=atan2(-Ap(2,1),-Ap(1,1));

t5=atan2(Ap(3,1),sqrt(Ap(1,1)^2+Ap(2,1)^2));

end