Aimed at the inverse kinematics solution and the choice of the inverse solution for the industrial robot, the industrial robot inverse kinematics problem was analyzed based on the arm configurations.The Cartesian space of the robot into four regions was divided, and the possible exist inverse solution was discussed under the subregions. Then under the same end pose, the multiple configuration of the robot was analyzed, and the inverse solution that correspondence to the robot configuration was encoded, the inverse solution and robot configurations were in onetoone correspondence. Finally, used MOTOMAN UP50 industrial robot as an example, the correctness and effectiveness of the inverse solution algorithm were calculated and verified. The algorithm provides a new reference method for industrial robot kinematics inverse solution and the selection of specific inverse solution.