Dear all,
Could you give me the equation of inverse problem (Lynx5)? I give robot the target point and I want to calculate the angles rotation of each axis. My robot’s knowledge is poor. 
thks all
Henry
Look at these…
lynxmotion.com/images/html/proj073.htm
lynxmotion.com/images/html/proj057.htm
lynxmotion.com/images/html/proj058.htm
Thank you so much for responding so quickly. It really helped me.
I can use these formulas but I don’t known how to get them. Could you send some document talk about this problem?
Henry
Just click on the boxes in the spreadsheet to see the formulas at the top of Excel. Each one is a little different, but I had no trouble finding the formulas in like 5 seconds… 
Henry,
If you are still stuck, send me an e-mail and I will send you the code I use for the Lynx6. It is in C#, but it is basically the same as C. All you need to do is change the parameters for the arm lengths. I have both the forward and inverse kinematics.
Trevor