In using the kinematics model to realize the control of the upper retort robot, for the special structure of the rotary upper retort robot, the forward kinematics model was established by improving the Denavit-Hartenberg method, and then the inverse solution expression was analyzed and verified. The simulation results of the workspace showed that the upper retort robot designed in this experiment could complete the tasks of tiling the whole layer and detecting the upper retort. Meanwhile, the hybrid curve method was used to generate the motion trajectory, and the time history of joint angle, angular velocity and acceleration were analyzed. It showed that the method was suitable for the retort robot and provided a basis for the follow-up trajectory tracking control.