Abstract: In order to accomplish the offline programming during the robot carrying out complexpath procedure, the paper proposed a method that can obtain inverse solution of the kinematic equation based on simulation results. The information of each knot on robot work path was extracted with AutoCAD, and simulated the robot’s movement with ADAMS. From the results of the simulation, we could derive the angle function for each joint of the robot. And then, we could generate a control program from these joints’ angle functions. With MOTOMANUP6 robot and related softwares, we proved the correctness and effectiveness of the proposed perspective by cutting operations simulation. The perspective and method for offline programming are suitable for a variety of industrial robot.