Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is a major application area, where manual programming is a very tedious job. Off-line programming is a constructive way to solve the problem. The inverse kinematics algorithm of robot and positioner is the foundation of the off-line programming system. Although previously there were some researchers who studied the positioner inverse kinematics algorithm, they only focused on a special solution of the positioner inverse kinematics, which is the solution at down-hand welding position. However, in welding production, welding position other than down-hand position is also needed. A method for representing welding position was introduced. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented. Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic arc welding. An arc welding system with a robot and a rotating / tilting positioner is a major application area, where manual programming is a very tedious job. Off-line programming is a constructive way to solve the problem. The inverse kinematics algorithm of robot and positioner is the foundation of the off-line programming system. only focused on a special solution of the positioner inverse kinematics, which is the solution at down-hand welding position. However, in welding production, welding position other than down-hand position is also needed. A method for representing welding position was introduced. Then a general algorithm of rotating / tilting positioner inverse kinematics is presented.