t = [0:0.01:10]';
y = 5*t + 40;
r = sqrt(25^2 - (y-65).^2);
x = r.*cos(t*pi);
z = r.*sin(t*pi) + 50;
BALL = [x, y, z, 0*x+1]';
q = [];
TIP = BALL(:,1);
 for i=1:length(BALL)
 Qi = InverseRhino(BALL(:,i));
 Q = [Q; Qi];
 Pt = Rhino(Qi, TIP);
 TIP = [TIP, Pt];
 pause(0.01);

 end