robotic arm inverse kinematics

I'm building a robotic manipulator with four degrees of freedom. i need to construct a model for the arm. I'm looking for web links or pdf files that have mathematical formulas and equations for the inverse kinematics of the manipulator. if any one had already work on something like that, i may give him more details and a drawing for the manipulator so he can help.

**broken link removed**. Check this link out. It has a general tutorial on Robotics including Inverse and Direct Kinematics. hope it helps U.

hey rahulce, i visited the link and i couldn't find any useful courses, plz give me the full link.

hi i'm new in this field,what is robotic manipulator, inverse kinematics, Direct Kinematics? please reply

Try searching through 3d animation forums as well. IK is used a ton there.