Inverse kinematics for a 3DOF robot arm

Hello,

I am working on a 3-DOF Robot arm. It is similar to an anthropomorphic
robot arm. I need to compute the inverse kinematics of the arm in
Matlab. Is there anyone who has already computed an inverse kinematics
for such a robot in Matlab? If not can anyone help me in developing
such a program in Matlab? All three joints are spherical joints. I need

to find Theta1, Theta2 and Theta3.


Thanks
Slinux