To execute the simulation launch the KinematicsTest.ttt scene and run it. Afterwards, open the main.m script, choose the target joint values and run it. You should see the robot move to the eight inverse kinematic solutions and obtain a result similar to the figure below. Comparing the end-effector position calculated in MATLAB we can see it is equal to the value presented in CoppeliaSim. Moreover, in the MATLAB command window it is possible to verify that there is one inverse kinematic solution that is equal to the pre-defined target joint values, and that all the other solutions produce the same end-effector position in CoppeliaSim. Follow the following link for a video of simulation execution.