Fetching data from Dynamcis 365 Sales in R

I am opertaing RStudion within a organization network and trying to connect it to the Dynamics 365. Idea is to fetch data via a get request to the Instance Web API provided for our on-premise Dynamics solution.

I wasnt able to find something online. Has someone any experience about it or any alternative idea to get to such data? Hint: when using the REST API url directly into the browser I get the data in json format but using the same link in R is not possible.

Many thanks.