In robotic applications and research, inverse kinematics is one of the most important problems in terms of robot kinematics and control. Consequently, finding the solution of Inverse Kinematics in now days is considered as one of the most important problems in robot kinematics and control. As the intricacy of robot manipulator increases, obtaining the mathematical, statistical solutions of inverse kinematics are difficult and computationally expensive. For that reason, now soft-computing based highly intelligent based model applications should be adopted to getting appropriate solution for inverse kinematics. In this paper, a novel application of artificial neural network is used for controlling a robotic manipulator. The proposed methods are based on the establishments of the non-linear mapping between Cartesian and joint coordinates using multi layer perceptron and functional link artificial neural network.