anyway to control 2 axis (not standalone) by 1 input

Hi, i have a problem need help.

example, i have an arm robot (TRR). i want to use T(trans) to control axis X and RR(rot) to control only axis Y. there is a equation decribe relationship between R1 and R2 like R1 = f(R2).

The way to control the robot in world mode by inverse kinematic is easy but how do i control the robot in joint mode, the input only T and R2? What is the loop-control used in joint mode:
joint input---> forward kinematic---->inversekinematic--->joint output

---

>control motor---->joint input.
or
joint input --->control motor ---->forward kinematic----> joint input

The kinematics are not used in Joint mode. Joint mode is direct control of the motor.

then the problem is becoming harder, do you have any idea

What exactly are you trying to accomplish?
Some sort of coordinated jogging that isn't the same as world mode, or joint mode?

like this robot, TRR, because the axis T control Z, R1 and R2 control X, when i move R2, R1 must be controlled (R1 depend on R2)

Just confirm my problem is solved, tks you very much