Simulation of robot with an external axis

Walter

Hi,

 

I have a question about simulation. I am trying to make a simulation with a robot and an external axis, which is held by the robot. I currently have a system which has an external axis fixed in the world coordinate. What I tried to do is to modify this system. It can be seen that in "MOC.cfg" we can define the kinematic parameters for external axises (base_fram_pos_...). But I can not find place to configure whether or not the external axis is held by the robot. And when I run the simulation, the result does not seem to be correct. It seems that the external axis is considered to be fixed in the world coordinate, instead of being held by the robot.

 

I wonder if it is possible to modify my current system for the new case? And is there anything missed in my operations?

 

Thanks a lot.