The robotic manipulator's control process involves many engineering challenges from mechanical design phase to the phase of programming. The inverse kinematics problem is one of the most difficult challenges, as it requires determining the angles of joints for a desired position of the end-effector, the difficulty of this problem comes from the none linearity and the possibility of multiple solutions or lack of solutions in some cases. Many solutions were proposed to solve the issue of inverse kinematics; analytically and numerically in addition to the solutions which based on artificial intelligence. In this research the solution of inverse kinematics using Adaptive Neuro-Fuzzy Inference System was discussed and amendments were proposed and indicated their usefulness.