This article presents a closed-loop inverse kinematics solution for a two-link robotic arm. Many articles before this have reported a closed-loop solution by inversion of matrices. In this paper, both homogenous successive transformation and geometry methods are used to find inverse kinematic solutions using a closed loop while avoiding finding inversion of matrices. An equation formed using the geometry method is utilized in the feedforward path that gives us the angle theta for a closed-loop solution. This theta is given to the feedback path that is formed by using homogenous successive transformation for finding forward kinematics equation. Ultimately, matrices are formed which give us a displacement vector that is used for finding positions for the robotic arm. Feedback path output and reference input are thus compared, and the error generated using this is given to a proportional and integral controller to reduce the error. This reported methodology is validated using the Simulink software block set, and results are shown in this paper.