$(4)-(40$ pts $)$ We wish to find the angles so that the arm will move to the position $(x,y)=(10,4)(cm)$ with an orientation $=0\mathrm{.}4(rad),$ while starting with initial joint angles of ${}_1=0\mathrm{.}5,{}_2=0\mathrm{.}7$ and ${}_3=0\mathrm{.}6(rad).$ Use the Newton$-$Raphson formula to find the values of the requested joint angles ${}_1,{}_2$ and ${}_3.$ To proceed, write a sub$-$program implementing the Newton$-$Raphson algorithm. Perform up to six iterations or until obtaining an estimated error $||||=\sqrt[\phantom{2}]{|{}_1{|}^2+|{}_2{|}^2+|{}_3{|}^2}$ less than $0\mathrm{.}001$ Please write the code in matlab