For general robot arm applications, the base of the manipulator is equipped on a fixed platform. However, the demand for high mobility robot control is increasing dramatically especially for intelligent factory automation. The robotics are usually equipped on certain moving platforms such as multi-axis motion stages or autonomous ground vehicles. Therefore, controlling of the end-effector (EE) position on a moving platform will be challenging. To realize such the high mobility control applications, it usually involves complicated kinematics computations. To deal with this issue, an innovative method is proposed to provide a general solution of joint space command generation. The EE position control is formulated as an optimization problem and an iterative algorithm is present for finding the local optimal solution. For a given target point and a pose of the moving platform, the sub-optimal joint angle command positions are generated. Comparing with the traditional method, such as inverse kinematics, the proposed algorithm avoids complex kinematics derivation. Finally, the developed method is further extended to higher degree of freedom (HDOF) robot manipulators to verify the feasibility for robot control on a moving platform.