Finding a Custom Object Id (01I…) to get the Setup page URL

//choose your object name (without suffix!)
String objectName = 'Work';

String query = 'SELECT Id From CustomObject Where DeveloperName = \'' + objectName + '\'';
String endpoint = Url.getSalesforceBaseUrl().toExternalForm();
endpoint += '/services/data/v29.0/tooling/query/?q=';
endpoint += EncodingUtil.urlEncode(query, 'UTF-8');

HttpRequest request = new HttpRequest();
request.setMethod('GET');
request.setHeader('Authorization', 'Bearer ' + UserInfo.getSessionId());
request.setEndpoint(endpoint);

HttpResponse response = new Http().send(request);
Id customObjectId = response.getBody().substringAfter('"Id":"').substringBefore('"');

//eg '01Id0000001BSeoEAG'
System.debug(customObjectId);

Which will give you something like:

'01Id0000001BSeoEAG'

parsed from the raw response:

{
    "size": 1,
    "totalSize": 1,
    "done": true,
    "records":[{
        "attributes": {
            "type": "CustomObject",
            "url": "/services/data/v29.0/tooling/sobjects/CustomObject/01Id0000001BSeoEAG"
        },
        "Id": "01Id0000001BSeoEAG"
    }],
    "queryLocator":null,
    "entityTypeName":"CustomEntityDefinition"
}