In order to control a robot we have to know its kinematics (what is attached to what, how many joints are there, how many degree of freedom, ect.). This book presents an approach that formalizes all of these mathematically for several robot configurations and get equations that can: 1) Convert from angular position of each joint (joint space) to the cartesian positions of the end effector called forward kinematics. 2) Convert from cartesian space to the joint space that is called inverse kinematics. The derived equations for forward kinematics and inverse kinematics have been invested in this work to represent the work space for different physical structures of robots. In this work an adopted user interface software (Visual Basic) that contains several types of windows have been built to simplify the solution for both forward and inverse kinematics for different robot configurations. In addition a program has been built using mat lab for representing, modeling and simulating the joint positions and the work space.