function Q=thetas_todos(Xc,Yc,Zc,LA,LB,LC,LD,LE,rot_placa,DHt)
Pp=[Xc Yc Zc];

va=[rot_placa(1,3) rot_placa(2,3) rot_placa(3,3)];
Pw=Pp+LE*va;


Q=invkinRRR2(Pw(1),Pw(2),Pw(3),LA,LB,LC+LD);

[t4 t5]=angulos_punho(Q,DHt,rot_placa);
Q(4,:)=t4;
Q(5,:)=t5;
end