The PERFORM ROTATION would apply to all joints. For your case I think using the GUI tools would be more appropriate. First to translate, you can select the entire structure, right click and choose Move to specify the distances by which the model needs to be translated along X, Y or Z. Subsequently you can select part of the structure that you would like to rotate and then go to the top menu and choose Geometry > Rotate. You need to define the angle and the axis of rotation.
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