function Matriz = Hexapod_FK(q, pata)

M_Har = [ q(1)    -1.17 -1.775      pi/2;
          q(2)      0   -4.51       -pi/2 ;
          q(3)    -7.89    0          0  ];
      
switch (pata)
    case 1
        Tras = transl(6.5517, 0, 0);
    case 2
        Tras = transl(7.727, 0, 0)*trotz(60);
    case 3
        Tras = transl(7.727, 0, 0)*trotz(120);
    case 4
        Tras = transl(6.5517, 0, 0)*trotz(180);
    case 5
        Tras = transl(7.727, 0, 0)*trotz(240);
    case 6
        Tras = transl(7.727, 0, 0)*trotz(300);
end

K=getFK(M_Har);
Matriz=Tras*K;

end
