A real industrial robot arm model is studied in order to improve the accuracy and popularity of a kind of moving 6axis robotic arm. Entity D-H model was established，positive solution in Kinematics was emulated and analyzed，the inverse solution algorithm of kinematic equation was programmed and improved，using MATLAB to find the inverse solution，entity kinematic simulation was carried out，and the simulative results and actual situation were compared and analyzed，the accuracy of the improved algorithm was verified. The study for deriving improved algorithm for inverse solutions of kinematics equation of other types of robotic arms provides help for the promotion of artificial intelligence education in Colleges and Universities.