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This paper determined the static equilibrium positions of linked bar structures. The static equilibrium positions are defined as the ones to minimize the variation of potential energy and can be obtained from the equation of motion at freezing time. Assuming each bar of the structure as a rigid body, the equation of motion for the structure must satisfy its rigid body condition. In order to combine both the equation of motion and the constraint equation, it is necessary to numerically calculate a weighting matrix to minimize the variation of potential energy and the generalized inverse method gives an explicit weighting matrix. Thus, with the modification of the generalized inverse method to explicitly describe the constrained motion, this paper presented a simple method to determine the equilibrium positions of linked bar structures, and the validity of the method was illustrated by two simple bar structures.