(sample-arm-model, hanoi-arm) : Use :inverse-kinematics instead of :solve-ik (according to https://github.com/euslisp/jskeus/issues/125#issuecomment-54590070)
(irtmodel.tex) : Remove sample description for :solve-ik
Merge pull request #126 from snozawa/remove_solve_ik_for_sarm

Remove solve ik for sarm