%-- SCRIPT: PlotGraf ------------------------------------------------------------------------   
 figure(2)
subplot(2,1,1), plot(t,q(1,:)*180/pi,'r', t,q_r(1,:)*180/pi,'b-.')
                 ylabel(' q1, junta1 (rad) '), grid on
                 title(' Deslocamentos angulares: Teórico ("V") e Corrigido ("A-.") ')
subplot(2,1,2), plot(t,q(2,:)*180/pi,'r', t,q_r(2,:)*180/pi,'b-.')
                 ylabel(' q2, junta2 (rad) '), grid on
pause%, close(2)
                 
