Abstract: For control of the robot manipulator we must program the cartesian trajectory ofthe end effector.The most common approach for solving this problem is to assign acoordinate frame for each link,then solve the homogeneous transformation.This traditional method is complicated and is deficient in visualization for analysis.The purpose of this paper is to investigate and verify a method based on an visual geometric,analysis,which does not require any knowledge of homogeneous transformation.The analysis and a detailed scheme are introduced.A software is developed.Thisidea can be extended to many robot mainpulators,and is well adapted for educational laboratories.