I want to create a two MATLAB functions for a 3DoF system robotic arm that has yaw, pitch and pitch roatation. The first one is the forward kinematics that will give the position of the end effector for given angles. And second one is the inverse kinematics which will give the angles for the given positions. Use MATLAB symbollic toolbox.Joint 1 is yaw rotation, joint 2 and 3 are pitch rotations.

joint 3 joint 2 end-effector joint 1 base joint 3 joint 2 end-effector joint 1 base