In this paper, we describe the algorithm for solving the inverse kinematic problem and the computation methods of joint torques of the revolute joint type manipulator. At first, the computation methods of joint variables from the position and the configration of end effector are considered in the case of the revolute joint type 6 link manipulator. Secondly, the manipulator dynamics equation of the revolute joint type 3 link manipulator is derived, and then, the effective inertia force, coupling inertia force, centripetal force, Coriolis force and gravity are computed in detail. Finally, using the digital simulation the variations of joint torque with respect to joint angular velocity and acceleration of 3 link manipulator are studied when it moves along a straight line
