For the hyundai-hs220 six axis manipulator, the improved D-H modeling method is used to construct the robot joint coordinate system, the forward and inverse kinematics equations are analyzed and deduced, the robot model is constructed in the simulation environment based on MATLAB platform and robot toolbox, the forward and inverse kinematics equations are simulated and calculated respectively, and the correctness of the kinematics equations is verified. In the experiment of trajectory planning in joint space, the continuous and stable motion curves of each joint are obtained, which lays a theoretical foundation for the follow-up trajectory planning control.