Comment by ipv6ipv4

Analytical solution of the inverse kinematics:

o1 = atan(y/x) - acos((x^2 + y^2 + L1^2 - L2^2) / (2 * L1 * sqrt(x^2 + y^2)))

o2 = acos((x^2+y^2-L1^2-L2^2)/(2L1L2))