Abstract: Kinematics is of fundamental importance for trajectory planning, motion control, workspace analysis, etc., however, multiple solutions exist for serial manipulator. The desirable or optimal solution have to be select and match from the multiple solutions using additional algorithms, such as closest solution, energy-saving etc.. As for the continuous trajectory planning in the Cartesian space, several methods exist, such as the interpolation of quarternion and Frenet - Serret formulas, axis - angles methods. However, they might encounter severe problems for kinematically deficient manipulators. In the thesis, a reservation method is proposed to settle the inverse kinematics of industrial serial manipulators (5-DOF and 6-DOF). Therefore, the desirable and optimal solution can be directly obtained without the selection and match from multiple solutions. Meanwhile, the dynamic reference orientation or static reference orientation is proposed to plan the continuous time-varying orientation, which is coupled with position of end-effector. Therefore, the continuous trajectory planning is directly achieved in the Cartesian space using the above-mentioned inverse kinematics without the interpolation in the joint space. The latter has unpredictable and complicate shape of end-effector.  For further details, pls. refer to the section of "Academic"!!!