The problem is there is no solution for theta 2 and theta 3 which satisfies both constraints for theta4 from 0-90deg for a=1.237,b=3.027,c=3.506 and d=3.144. For example when theta 4=90,the given values dont satisfy the 2 constaints acos(theta2)+bcos(theta3)...=0 and asin(theta2)+bsin(theta3)....=0
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