Abstract: The key for symbolically solving the inverse kinematics of robots with a computer is whether the analyticall solution with simple equations in the form asin(x)+bcos(x)=c or ax=b are recursively decoupled. Based upon Pauls ideas, this paper proposes a new decoupling method that can recursively decouple the position equations to obtain the simple and analyticall solvable equations when Pauls method fails. This method is a supplement of Paul method.