Based on the separation between the end effector position and posture, a novel inverse kinematics algorithm was proposed for 6R industrial robots, which last three axis intersected at one point.More over,multi-solutions and singularity analysis were also made.The simulating result indicates that the method is effective. Using this algorithm, the inverse matrix is avoided completely. So the algorithm is simpler and more suitable for robot real-time control compared with conventional analytic methods.