The two-dimensional and three-dimensional position models of a 5-axis manipulator end were established, and made it position to a given target point.Using vector product method, the range of the actual rotation angle of the joint was determined.Two-dimensional plane position needed to rotate arm, forearm and wrist joints respectively. Three-dimensional spatial position needed to rotate waist, arm, forearm and wrist joints respectively. When solving the inverse kinematics,pitch angle of arm was iterated to solve all the efficient solutions, and all solutions were checked with forward kinematics analysis.In accordance with the principles of the highest operational efficiency, the optimal solution was calculated from the effective solutions. Finally,the trajectory and angle-time curve of each joint point of optimal solution were given in the two-dimensional and three-dimensional model.Simulation results show that the position accuracy is in the millimeter level to meet the position requirements.