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
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