close all, clear all, clc
L(1) = Link([0 1 0 -pi/2 1]);
L(2) = Link([pi/2 1 0 pi/2 1]);
L(3) = Link([pi/2 1 0 pi/2 1]);

robot = SerialLink(L,'name','Cartesian Robot')

robot.plot([8.6,7.1,5.44],'workspace', [-1 15 -5 25 -5 15])

P=[5.000000	-2.000000	9.000000;
2.852476	2.400551	10.425770;
2.443977	7.108458	8.560102;
2.107704	12.195803	8.685630;
1.720847	17.279648	8.806692;
1.327363	22.363383	8.909940];
hold on

X=3+P(:,1)';
Y=P(:,2)';
Z=P(:,3)';

pr=[X;Y;Z];
plot3(X,Y,Z,'o')
grid on


hold on
fnplt(cscvn(pr(:,[1:end])),'r',2)
hold off