inverse kinematic function in matlab

main.m
% Define the robot
L1 = Link('d', 0, 'a', 0, 'alpha', pi/2);
L2 = Link('d', 0, 'a', 1, 'alpha', 0);
L3 = Link('d', 0, 'a', 1, 'alpha', 0);
L4 = Link('d', 0, 'a', 1, 'alpha', 0);
robot = SerialLink([L1 L2 L3 L4], 'name', 'my robot');

% Define the desired end effector position and orientation
T_desired = [eye(3) [1, 1, 1]'; 0 0 0 1];

% Compute the inverse kinematics
q = robot.ikine(T_desired)
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