shouldn't the reference frame replace the frames of the subsystem
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Hi I am building a robot arm simulation
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/168072/image.jpeg)
and I built every joint out of cylinders then made it a subsystem.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/168074/image.jpeg)
the frames is not where they should be so I am added a reference frame to the subsystem
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/168075/image.jpeg)
but when I Specify Position in the State Targets in the Z Reveloute Primitive (Rz) it still use one the 2 solids' frames and this is what I end up getting.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/168077/image.jpeg)
bold where its obviously rotating around the axis shown in the picture (above) which is one of the solids' Axis (solid 9) and not the reference frame . can someone tell me what am I doing wrong??? Thank you very much
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/168078/image.jpeg)
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Answers (1)
Qu Cao
on 17 Oct 2017
Since the Reference Frame is attached to Solid 8 not the World Coordinate, the rotating axis will be one of the Solids 8's references frame.
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