About adding motion directly to the end-effector

I built a model on simscape multibody and now need to infer the actions of each part from the actions of the end-effector. But I've seen a lot of examples where you're applying action to the joint, and I want to know how do I directly add rigid motion to the end-effector.（It's not adding motion to the joint）

Answer 1

[J Chen]

Connect a 6 DoF joint to the end effector and ground. Specify the displacements of the 6 DoF joint. Rember to set the Filtering and derivatives to 2 in the Input Handling of the Simulink-PS Converter block.