A brief introduction of industrial robot manipulators, evolution and classification is presented. The basic configurations of robot manipulator are demonstrated and their benefits and drawbacks are deliberated along with the applications. The difficulties to solve forward and inverse kinematics of robot manipulator are discussed and solution of inverse kinematic is introduced through conventional methods. In order to accomplish the desired objective of the work and attain the solution of inverse kinematic problem an efficient study of the existing tools and techniques has been done.