Thank you, indeed i made a typing error 
i am looking at the code now and it looks a lot better, i am still learning c++ for arduino.
There are some difference's whit VS 2010 C++ that made me confused. ( some weird behavior with the functions of the math library )
Thank you so much, Only one error, on input :
InverseKinemetics->ServosPosition's are: 10, 15, 0, 10, 15, 0, 10, 15, 0, 10, 15, 0, 10, 15, 0, 10, 15, 0;
I get :
InverseKinemetics->Angles are: 90.00, 0.00, 90.00, 90.00, 0.00, 90.00, 90.00, 0.00, 90.00, 90.00, 0.00, 90.00, 90.00, 0.00, 90.00, 90.00, 0.00, 90.00;
correct me if i am wrong but i thought at x 10 y 15 z 0, i must get 90, 90, 90.
Already solved, another devide by ZERO protection. :0
Still an ERROR, now the second angel wont get under 90, only above 
See The Code on first post.