Robotic Arm, Trajectory Generation

Hi Everyone,

I want to generate the trajectory of PFRR Serial Manipulator. Basically i want to show the translation of the prismatic link along the x-axis from 0 to -50. The code that are provided below give the translation of prismatic link along the z-aixs. I implement all the techniques like trot command and many more but still I didn't get the translation along the x-axis. Can anyone please help me to generate the correct trajectory (I want to show the movement of the prismatic link like a screw lead move along the x-axis in MATLAB not in Simulink).

Manipulator Discription:

Manipulator consist of four links

1. Prismatic Link: like a screw lead
2. Fixed link: perpendicular to the First link.
3. Revolute Joint Link: Rotate from -pi to pi.
4. Revolute Joint Link: Rotate from -pi to pi.

Code:

clc;
clear all;
close all;


L(1) = Link([0, 0, 127, pi/2, 1]);  
L(2) = Link([0, 0, 58.864*2, 0]);   
L(3) = Link([pi/7, 0, 55.88*2, pi/2, 0]);  
L(4) = Link([pi/4, 0, 13.97*3, 0, 0]);  
L(1).offset = 0;     
L(1).qlim = [0, 127];  
L(2).qlim = [0, 0];    
L(3).qlim = [-pi, pi];  
L(4).qlim = [-pi, pi];  
PFRR = SerialLink(L);
PFRR.name = 'PFRR';
q_start = [50, 0, 0, 0];  
q_end = [127, 0, pi/2, pi/3];  
t = linspace(0, 5, 100);  
[q_traj, qd_traj, qdd_traj] = jtraj(q_start, q_end, t);
videoFilename = 'manipulator_trajectory_PFRR.avi';  
v = VideoWriter(videoFilename);  
open(v); 
figure;
hold on;
grid on;
set(gcf, 'Color', 'w'); 
axis([-150, 500, -250, 250, 0, 300]);
view(30, 30); 
xlabel('X');
ylabel('Y');
zlabel('Z');
title('Trajectory of PFRR Manipulator');
[x, y] = meshgrid(-150:10:500, -250:10:250);
z = zeros(size(x)); 
surf(x, y, z, 'FaceColor', [0.8 0.8 0.8], 'EdgeColor', 'none', 'FaceAlpha', 0.5);
for i = 1:size(q_traj, 1)
    q = q_traj(i, :)
    PFRR.plot(q, 'workspace', [-150 500 -250 250 0 300], 'noarrow'); 
    T = PFRR.fkine(q);
    plot3(T.t(1), T.t(2), T.t(3), 'r.', 'MarkerSize', 8);  
    frame = getframe(gcf);  
    writeVideo(v, frame);  
    pause(0.1);  
end
hold off;
close(v);