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

If you could explain what you have and what the theta's are it would help. 

You may mean the following: Given the coordinates (x,y,z) of the end
of the arm, find the angles with the three axes. If so, the answer is
the following: Let r = sqrt( x^2+y^2+z^2). Then theta1=arccos(x/r),
theta2=arccos(y/r), theta3=arccos(z/r).

I agree that more information is needed to understand what the problem is.

The word kinematics suggests a problem involving motion, and not simply location.

The Question also posits three joints, perhaps akin to shoulder, elbow, and wrist.

regards, mathtalk-ga