Using matlab simulink and simscape, simulate a robotic manipulator that has two links with masses $($M$1,$M$2)$ lengths $($L$1,$ L$2),$ damping coefficients $($b$1,$b$2),$ spring stiffness $($spring$1,$ spring$2)$ and gravity $($g$)-$ any values can be given for masses, damping coefficients, spring stiffness and gravity. The manipulator's dynamics can be modeled using Lagrangian mechanics for the link and motor side dynamics: Link$-$Side Dynamics:

$M(q)q^{}+C(q,q^{})q^{}+K(q-)+g(q)=0$

Motor$-$Side Dynamics:

$J{}^{}+D({}^{}-q^{})+K(-q)={}_m$

Select values for the initial conditions, q$,$ qdot, theta and thetadot to simulate dynamic behaviour and get desired behaviour