Let's quickly look at some of the simulation results. For those parameters we simulate our equations of motion and this is what it looks like. So, this is the rotation of the first joint. This is the rotation of the second joint. And, as you can see, after about 2.9 to 3 seconds the first locking takes place at the second joint. Then it starts oscillating like this. And about 5.87 at this time the second joint will lock and this is the picture you see for the first joint. For the second joint again at around 2.9 seconds it stops and after that we cannot simulate any more.

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