This paper presents an inverse kinematics algorithm based on multi-agent system. A number of joint agents are used to solve the inverse kinematics problem by serial and parallel collaborative computing. This algorithm applies to the vast majority of robots, no matter of the shape or the number of joints.

Kinematics analysis of mechanism refers to analysis for pose、speed and acceleration of mechanism end manipulator. In this paper, the manipulator of MOTOMAN UP50 is firstly regarded as object, then setting up its pose equation by way of D-H, simulating its kinematics by software of Adams, the real time results of pose、speed and acceleration of robot in different conditions have been obtained. Therefore, it makes sense in kinematic performance of joint robot and prepares for further research of kinetic and controlling properties.