In order to solve the problem of how to complete a full section sampling while coal sampling machine and train are in movement (i.e. double action),the DH method is used to set up the space coordinates to the sampling machine. The kinematics equations are obtained and the corresponding analysis is conducted; A method of using Matlab to solve nonlinear equations is proposed for solving the inverse kinematics problem, and the trajectory curve of sampling machine, the hydraulic cylinder displacement curve, the motor angular displacement curve and the speed curve of hydraulic cylinder and motor angular velocity curve are obtained through the simulations. It could provide the necessary data for the controller to control the sampling machine to sample in accordance with the requirements in this article. This method can be widely used in intelligent motion of multi degree of freedom articulated manipulator control. Therefore, it will have great popularization value.