Aiming at the mechanism character of a multi axes robot, the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.

• 针对一个教学型多关节机器人的机械特点,不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。