using the inverse kinematic solver?

hello, i'm trying to use the inverse kinematic solver in matlab.i'have imported the urdf file of my robotic arm into matlab. and i have controlled it using the joint angle...but when i tried to use the inverse kinematic solver it returns a configuration vector of "NaN" .. i atteched my robot urdf file ...i will be thankful if anyone could help me solve this problem. thank you.

[tq yu]

Hi,marwen!I have a problem and need your help. I want to use 'smimport' by simscape or 'importrobor' by robotics robotics system toolbox from a .XML or .URDF file .The file is from solidworks .step file . so my question ,1: what's the difference between 'importrobot' and 'smimport' ? I want to use the file to build my own robot in matlab ,and test with my own kinematics and the trajectory planning algorithm . So my second QS: How can i get the interface to send the joints angles to my robots ?Can you show me an souce case of dealing with that question ? I want to call the function by my own to return the results ,such like the Robotics Toolbox does.Sincerely