A Mechanical Engineering Matlab project

Model a two-link manipulator with torque at the pivots. Assume the links are massless and model a point mass at the end of each link. Draw the workspace of the manipulator. Take user input for a point within the workspace (the user will click within the workspace) Design a PD or PID controller to control the position of the end-effector of the arm to reach the point chosen by the user. Tune the parameter such that critical damping is equal to 1 (for position control).