Taking the concrete pump truck with five booms as the research object,the D-H matrix of the concrete pump truck boom system was established according to the basic theory of tandem robots,and the forward solution analysis of the boom system kinematics was carried out.An inverse solution algorithm for the end of the pump truck boom system based on the area planning method was proposed.The linear pouring trajectory in the working space of the concrete pump truck boom system was planned,and the inverse calculation was performed on two typical linear pouring trajectories.The results show that by using the inverse solution algorithm of the pump truck boom system based on the area planning method,the calculation process of the boom inverse solution can be simplified,and the inverse solution is unique,the calculation amount is small,the real-time performance is high,and it is easy to be implemented on the construction machinery motion controller.