In Chap. 12 the map that represents the main classes used for the solution of the inverse position kinematics of manipulators with orthogonal architecture, was introduced, while in Chap. 13 the location of the objects of such classes, was explained. Consequently, this chapter provides the guidelines to systematically build the functions of the inverse kinematics in terms of the closed-formSolutionclosed-form solutions introduced in Chaps. 4 – 11 .