Assistance Creating a Controller for Custom Mechanism

faram

Hello guys. I'm using RobotStudio for a university assignment where the robot is to assemble a toy car. I have imported our CAD model into RobotStudio and defined the links and joints for the robot including the gripper tool on the end. The image of the robot is shown below:
 

Right now I am trying to simulate the robot assembling the toy car and am struggling on how to make the robot "Jump to Target" for the path and target configurations...

I believe I may need to add a Virtual controller to the robot for it to generate the correct movements. Are there any simple guides on how to make a controller for this robot? It has 3 prismatic joints in x, y, and z respectively with two revolute joints near the tool.

Any help will be appreciated, this is the only software I have available to me at my school unless I do manual animation in AutoDesk Inventor which is highly time consuming.

svoldgaard

You may look in the "Additional axes and Stand alone Controller" Application manual. 

under section "3.2.5. Modify a Stand Alone Controller package" is described how to create a controller, that can operate a gantry like your