How to plug in trajectory to the Simscape multibody

Hello,

I am doing a project to make a delta robot move according to an inverse position kinematics.

I have used Simscape multibody and got a Simulink model like below.

My delta robot looks as shown below,

The robot moves crazy because I didn't add any slider to control the joint.

My questions are,

1. How can I add trajectory to each joint block?
2. I have an inverse position kinematics MATLAB code. Can I make the robot move corresponding to the kinematics? How can I do that?

Thank you