Good time of the day to everyone!

Currently I am working on creating of articulated Puma robot in MRDS. The model is ready and joints can move. And I have to program forward and inverse kinematics. You know that MRDS have the coordinate system like that: x (right), y (up), z (on us). But
in all books Denavit-Hartenberg parameters are described in such a way that first joint have coordinate system like: x (on us), y (to the right), z (up).

By making forward kinematics, I have to rotate coordinate system of the first joint, so that it should be equal to MRDS system. But I do not know how to rotate system in inverse kinematics, as they have already
derived formulas and answer is in Axis space but not in Cartesian.

**My question is: Is it possible to change basic coordination system in MRDS? So that I could assign where x,y,z should be directed
****by myself****?**

Thank you very much for answer.