Robot kinematics analysis is an important part of the robot offline programming system. Focusing on the KUKAKR210 robot, its kinematics analysis was studied from the point of view of robot offline programming system development. Based on D-H method, the robot coordinate system was established, homogeneous matrix of the robot terminal actuator was given, and the position and attitude of the terminal actuator were determined. The analytical solution of inverse kinematics of KUKAKR210 robot was derived. The reachability of the robot was judged from the point of view of inverse solution and the singularity problem in its working space was analyzed. Finally the correctness of the kinematics algorithm of offline programming system was verified by simulation experiment, which provided reference for the research and development of offline programming system of robot.