function y = fcn(tau_gen)

l1=0.73;                                %
l2=0.24;                                %
l3=0.73;                                %
l4=0.84;                                %Length of moment arms
l5=0.1;                                 %
l6=0.84;
alpha = pi/4;
T=[zeros(1,4) sin(alpha) sin(alpha) sin(alpha) ...
    sin(alpha);zeros(1,4) -cos(alpha) cos(alpha) -cos(alpha)...
    cos(alpha);ones(1,4) zeros(1,4);l2 -l2 -l2 l2 ...
    -l5 l5 -l5 l5;-l1 -l1 l3 l3 -l5*ones(1,4);zeros(1,4) -l4 l4 l6 -l6];
T_inv=pinv(T);

u = T_inv*tau_gen;
freq = 83*sin(0.0007909*u);
prosent = (freq/83)*100;
tau = T*u;

y = tau;