Abstract: In general, when we deal with the inverse kinematics design problem of robot, the results/outputs usually are given/desired but the inputs are unknown/to be found. People must understand how to control/determine the input variables to satisfy the results/outputs. This study presents a new method, homotopy continuation method, for the inverse kinematics problem of robot. The kinematic equations are derived and their solutions/roots also will be obtained by homotopy continuation method.