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Simulate Robot Motion in Mechatronics Concept Designer


I try to simulate robot motion in MCD but I have some problems. I found some examples at youtube and I see that is realize by using Point on Curve Joint to track the TCP of robot. The problem is that I can not to do it in my example. I have almost tha same configuraton on axis of robot. Can any one explain me how to do it ?

Here is example movie from yt: