The work aims to carry out the kinematics model construction and trajectory simulation of the six-degree-of-freedom manipulator based on PersonalRobotics, so as to realize the research of the late manipulator control algorithm and verify the correctness of the kinematics model construction. The kinematics model was established by the standard D-H method, and the forward and inverse kinematic equations of the manipulator were solved. According to the structural characteristics of the manipulator, the analytical method of the traditional inverse kinematics solution was im-proved. The accuracy of the kinematics model was verified by the simulation software Matlab. The improved inverse kinematics algorithm reduced the complexity of the traditional algorithm. The simulation software Matlab was used to verify the accuracy of the kinematic model, and the improved inverse kinematics solution method was verified by Matlab. The improved inverse kinematics solution speed was half of the traditional inverse kinematics solution speed. According to the kinematics study of the six-degree-of-freedom manipulator, the study has certain reference value for the motion control of the actual manipulator. The simulation data are tested on the actual P-Rob arm, and the accuracy of the kinematic model is verified again. The simulation data can be applied to the actual robot arm control. The experimental phenomenon shows that the method of solving the inverse solution by the improved analytical method for the mechanical arm of this mechanical structure is simple, the error is small, and the feasibility is strong.