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Creating 6 axis robot with addtional bracket

Hello. I've created a 6 acis robot from Kawasaki. It's runs just fine but one element is very problematic for me ( linked video ). I've post a screenshot from configuration... Maybe someone know how to fix this. The problematic element is in the second screenshot. 

Link for video showing behaviour of the robot:

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The Kawasaki BX300L has non-standard kinematics.

Our kinematics template is partly compatible with this robot. By the way, you can model the right TCP position and obtain the correct joint values if you exclude real Joint2 and counterweight and recalculate the positions of the 'virtual' Joint2 that suits our kinematic template.

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