Using Lagrange's equation and Newton-Euler formulation,and I need detial calculated processing.

Determine the dynamic equations for the two-link nonplanar manipulator. Assume that all the mass of the links can be considered as a point mass located at the distal (outermost) end of the link. The mass values are m1 and m2, and the link length are l1 and l2. Using Lagrange's equation and Newton-Euler formulation. Determine the dynamic equations for the two-link nonplanar manipulator. Assume that all the mass of the links can be considered as a point mass located at the distal (outermost) end of the link. The mass values are m1 and m2, and the link length are l1 and l2. Using Lagrange's equation and Newton-Euler formulation