inverse kinematic to newton method in matlab

main.m
function [q, converged] = inverseKinematicsNewton(robot, T_des, q0, tol, max_iterations)

% robot: the robot object
% T_des: the desired end-effector pose (4x4 homogeneous transformation matrix)
% q0: initial guess for the joint angles (1xN vector)
% tol: tolerance for convergence
% max_iterations: maximum number of iterations

% precalculate robot Jacobian at initial guess
J = robot.jacob0(q0);

converged = false;
q = q0;
iteration = 0;

while ~converged && iteration < max_iterations
    
    % calculate error between current end-effector pose and desired pose
    T_cur = robot.fkine(q);
    delta_T = se3_log(se3_inv(T_cur)*T_des);
    error = se3_vec(delta_T);
    
    % check if error is within tolerance
    if norm(error) < tol
        converged = true;        
        continue;
    end
    
    % calculate change in joint angles
    delta_q = pinv(J)*error; % using pseudo-inverse to handle singularities
    
    % update joint angles
    q = q + delta_q';
    
    % recalculate robot Jacobian with updated joint angles
    J = robot.jacob0(q);
    
    % increment iteration counter
    iteration = iteration + 1;
end
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