In Robotics, finding solution of problems related to Inverse Kinematics (IK) is one of the problems. Increasing the complex of the joint structure of robot the traditional geometric, iterative and algebraic methods are inadequate. The inverse position kinematics solves the following problem: “Given the desired pose of the robot’s hand; what must be the angles at the joints?” Unlike to the forward problem, the solution of the inverse problem is not always unique: The same end effector’s pose can be reached by distinct joint position vectors, corresponding different configurations. The problem of IK consists of the conversion of the positionand orientation of a robot manipulator end-effector from Cartesian space to joint space.