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Add a simple dummy kinematics (2 links connected by a joint).
Aftwards you need to couple required fupa joints with robot joints.
Thanks Patrick.. It is almost working right!!
I created a generic link like you said, and created a couple of 4, 5 and 6 axis... I attached fupa on link 4 of the robot..
Axis 4 and 6 are working perfecty (I used factor - 1 for both)
But tha ax 5 is not moving correctely.. If I put a factor 1 or - 1 the Fupa moves a little bit, and if a Put a high value, moves in a strange way...
For A5 please check again if you have selected the correct "j5_couple" in fupa kinematics.
As far as I remember, two joints are crossing.
Please ensure you have selected the correct one.