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As @Airuno2L stated, the numerical solvers are optimized for with >= 6 DOF. A solution that worked well for us in some applications is performing some slight modifications on trac_ik to make it work better with < 6 DOF systems. You can find a fork here: https://github.com/tu-darmstadt-ros-pkg/hector_trac_ik/commits/master

And a example robot configuration using the options here: https://github.com/tu-darmstadt-ros-pkg/hector_tracker_planning/blob/master/hector_tracker_robot_moveit_config/config/kinematics.yaml

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