The forward kinematic equations in terms of joint variables and EE position are,

x l1 cos 1 l2 cos1 2
y l1 sin 1 l 2 sin 1 2
Solving (3.3) and (3.4) for shown in the following the steps. and

(3.3) (3.4)

, we get the inverse kinematics solution, which is

cos 2

2 x 2 y 2 l12 l2 2l1l2

(3.5)

sin 1 cos2 2 2

(3.6)

Here, + sign is used for elbow up configuration and - sign for elbow down configuration. By expanding (3.3) and (3.4), we have,

x l1 l2 cos 2 sin1 l2 sin 2 cos1 k1 sin1 k2 cos1 y l1 l2 cos 2 sin 1 l2 sin 2 cos1 k1 sin 1 k2 cos1
Where, k1 l1 l2 cos 2 and k 2 l 2 sin 2 Simultaneous solution of Equations (3.7) and (3.8) give,
sin 1 k1 y k 2 x 2 k12 k 2 k1 y k2 x 2 k12 k2

(3.7) (3.8)

(3.9)

sin1

(3.10)

Thus the joint variables 1 and 2 are obtained from the following two equations:

1 a tan 2sin 1,cos 1

(3.11) 2 a tan 2sin 2,cos 2