How to do the kinematics and dynamic analysis and control to a robot arm of 5 Degree of freedom?

Dear All, I want to make the forward and inverse kinematics for a robot of 5DOF, after that I have to do dynamic analysis and control for my robot with SimMechanics. Please could you help me for that, any tutorials or documentation are needed on Simmechanics!! Thank you for your help.

[moadh moadh]

I designed a robot arm with Solidworks and I like to do its simulation with SimMechanics as I mentioned.