Inverse kinematics

[Mahmoud]

what is the the inverse kinematics of a robot whose forward kinematics is
x= L1*cos(theta1)+L2*cos(theta1+theta2)
y=L1*sin(theta1)+L2*sin(theta1+theta2)+d
where d is the distance that the whole robot arm can move up or down
I mean there is a prismatic joint in the shoulder of the robot arm

[waltr]

Is this a homework problem for school?

[Mahmoud]

No this is the robot I will make in this competition

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can u help me with any information?
espechially on how can i find the objects in this competition

Thanks in advance