Robot Engineering question

1) Create a simulink model for the RR manipulator with l1=2,lc1=1.2,l2=0.6,lc2= 0.8,m1=5,m2=1,g=9.8 all in SI units. 2) Joint space PID control to track the reference given q1d=sin0.5t,q2d=cos1.2t. The control system requirements are fastest response without an overshoot. Plot - the joint space variables qi(t),qid(t), vs time - errors ei(t)=qidqi,e(t), vs time - control efforts i(t) vs time, for i=1,2 - the cartesian space y(t)vsx(t) 3) Repeat (2) using the computed torque control. Compare the PID and CT controller (