Inverse Kinematics solutions are needed for control of robotic manipulators for successful task execution. It is the process of obtaining the required manipulator joint angle values for a given desired end point position and orientation. In general the process of obtaining these joint angle values is a complex process that may require some higher computational power in the hardware. Mainly there are three traditional methods used to solve inverse kinematics problem, namely; geometric methods, algebraic methods and iterative methods. Apart from these traditional techniques researchers have looked into the use of Artificial Neural Networks (ANNs). In this paper we re-visit these non-traditional techniques and compare the advantages and disadvantages of each method.