This paper deals with the limit analyses of perfect rigid-plastic continua. Based on the kinematic theorem of the limit analysis theory, a mathematical programming finite element formula for determining the upper bound load multiplier has been established, and an iteration algorithm proposed accordingly. In this algorithm the plastic and rigid zones are distinguished for every iteration step, and the goal function is modified gradually. The difficulties caused by the nonsmoothness of the goal function are overcome. Some examples solved by this algorithm are presented.