For 6R series robot,its kinematics solution computation load is big, traditional method is difficulty to solve it and multiple solution and singularity problems are involved.To solve these problems,rigid body motion was described under the Plucker coordinate system,the quaternion mathematical model and the kinematic mathematical model of 6R series robot were established,and its inverse kinematic solution was obtained.A coordinated linkage algorithm model of robot and position transformer in the workstation was established, including the position coordination algorithm,speed coordination algorithm and attitude coordination algorithm Finally the control program of robot and position transformer was obtained.And a welding robot workstation was built for experimental verification of the algorithm.