Abstract: Analytical solution of the inverse kinematics has been found only for some particular structures of 6-DOF serial manipulator. We propose the Method of Sequential Retrieval by modifying the effective solution for inverse kinematics to solve the inverse kinematics for a 6-DOF robot arm which has not been analytically solved yet. We confirmed that our method can find some solutions which cannot be solved by the Effective Solution for Inverse Kinematics. In this study, we present the effectiveness of our method by comparing its convergence speed with that of the Newton-Raphson Method.