  In this brief, the current robust numerical solution to the inverse
kinematics based on Levenberg-Marquardt (LM) method is reanalyzed through
control theory instead of numerical method. Compared to current works, the
robustness of computation and convergence performance of computational error
are analyzed much more clearly by analyzing the control performance of the
corrected model free adaptive control (MFAC). Then mainly motivated by
minimizing the predictive tracking error, this study suggests a new method of
model free adaptive predictive control (MFAPC) to solve the inverse kinematics
problem. At last, we apply the MFAPC as a controller for the robotic kinematic
control problem in simulation. It not only shows an excellent control
performance but also efficiently acquires the solution to inverse kinematic.
