Hello there,
You should already have a multibody model that is set up in Simulink using the Simulink Multibody blocks. You can run the simulation to generate the simulation data.
After this, you will have access to various data, such as joint positions, accelerations and velocities. To extract this data, blocks like the "Joint Sensor" block from the Simscape Multibody blocks can be used by connecting them to the right joints in your model. Connect the output of these blocks to "To Workspace" blocks to save the data in MATLAB workspace.
Now that you have the desired data in the MATLAB workspace, you can use MATLAB functions and other toolboxes for post-processing.
