Hi, I have already done projects such as yours using Matlab Robotics Toolbox, for the designing of complex Robotic designs. I have an engineering background in Robotics and can show you my previous work on Teamviewer or Skype Screen Sharing if you want.
I have gone through the word file you have attached and can complete your project in three days or less. I have used the exact same functionality of this toolbox in many earlier projects.
We are a team of experts in Matlab who have been in the business for over four years and have only just entered freelancing.