First roboanalyzer addition launched in
http://www.rajeevlochana.com/wp-content/uploads/2015/01/ICMBD2011_rajeevlochana.pdf WebQ2. There are multiple solutions, not sure how many. You can frame the inverse kinematics problem as solving for just the end-effector position (x,y) or for end-effector pose in the plane (x,y,theta). I suspect in the first case there will be an infinite number of solutions.
First roboanalyzer addition launched in
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