In order to control the jointed robot accurately, the motion analysis and synthesis for 5 degrees of freedom of tissue culture plantlet transplanting robot were carried out. Geometrical model and kinematic equation of the robot manipulator were founded using the Denavit-Hartenberg analysis method, and forward solution of the kinematic equation was completed. According to configuration characteristic of the robot, close-type inverse solution of the kinematic equation was obtained by geometry analysis. The forward and inverse solution that had been obtained was validated by motion simulation analysis. Kinematic solution of the tissue culture plantlet transplanting robot established a foundation for trajectory planning and accurately motion control.