How to get my joints to stay in place if I rotate one of my joints?

hi so i made a robot arm using configuration joints on unity3D. Im able to rotate my joints with the keyboard. But when I move my first joint to the left or right the rest of the joints start to move the direction the first joint is moving and are wobbly. Im trying to rotate the first joint and the rest of the arm to not move at all until I make it move. Does anyone know how to do this ? btw im new in unity3D so please be patient with me.

If you are using configurable joints - Under angular X drive and angular y drive, you can set a value for “positionDamper” this increases the stiffness of the joint, or how hard the joint tries to resist movement.