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You can try following this tutorial to generate an IKFast solution, as suggested by @cagatay. You'll need to create a DAE file from your robot's URDF, and will need to install the openrave software. But, after that, the steps are fairly straightforward.

Note that IKFast is pretty good, but is unable to find solutions for all robot geometries. In particular, it only handles robots with 6 joints; additional joint beyond that must be specified as "free joints". It can handle prismatic joints, but with a few limitations.

Good luck!