joints accelerations in simulink and Simscape multibody

Hello,

Currently, I am modeling a 2-DOF robotic arm using Simscape Multibody. I have compared it with my mathematical model, and while the positions are similar, there is a deviation between the two responses, as shown in the figures. I have already verified my equations, and they are correct (I used the rotational position as input and obtained identical plots).

When I plotted the accelerations of the joints (from Simscape Multibody and from the dynamic model), I found that there's a difference in one joint, and the second one shows a deviation. My question is: could there be numerical errors introduced by the differentiation and integration methods used in Simscape? Alternatively, how can I address these errors? I have also checked my inertia mass parameters, and they are correct as I measured them using an inertia sensor.

Thank you.

The position of the end effector is shown in this figure: