Abstract: This paper presents a new solution to manipulator's kinematic equations based on the analysis of the relation between the arm joints and the wrist poses of a multi-joint manipulator,Compared with traditional algorithms ,this method reduced the computation of kinematic equations and inverse kinematic equations,which is useful to improve the control speed of general multi-joint robots.Comparation between the new algorithm and the traditional D-H algorithm in resolving the kinematic equations and the inverse kine-matic equations of the Movemaster-EX manipulator is also given in this paper.