how make changeable joint limits in simscape ?

I making robot model in simscape multibody and I want make joint limits to be changeable,i.e. I can set up joint limits from some constant in the workspace. The reason why I need is because limits of the different joint depends on each other.

I have this configuration of the robot, hope this help understand my problem:

Answer 1

[Steve Miller]

You will need to apply the joint limits as an external force. Measure the positions of each part/joint, calculate when the force should resist motion, and apply it at the respective joint.

--Steve