$J_1{}_1^{}+d_1({}_1,{}_2,{}_1^{},{}_2^{},{}_1^{},{}_2^{})={}_1$

$J_2{}_2^{}+d_2({}_1,{}_2,{}_1^{},{}_2^{},{}_1^{},{}_2^{})={}_2$

$J_1=m_1{l}_{c1}^2+m_2(l_1^2+l_{c2}^2)+I_1+I_2$

$J_2=m_2{l}_{c2}^2+I_2$

$d_1=2m_2{l}_1{l}_{c2}{c}_2{}_1^{}+d_{12}{}_2^{}+2h{}_1^{}{}_2^{}+h{}_2^{}{?}^2+g_1$

$d_2=d_{21}{}_1^{}-h{}_1^{}{?}^2+g_2$i want the transferfunction