The invention provides an inverse kinematical solution method during the installation process of an overhaul robot arm of a steam generator; wherein, the definitions of Alpha, Beta, and Gamma are as follows: at the initial stage, a base coordinate system is in the same attitude with a world coordinate system, then the base coordinate system revolves around the Y axis for the Alpha angle, next revolves around the X axis for the Beta angle, and finally revolves around the Y axis again for the Gamma angle, so as to obtain the ultimate attitude of the base coordinate system. The respective positions of the articulation points are: B point is the arithmetic endpoint of the robot arm, C, D, E, F, G, and H points are respectively the sixth to first articulation points, and I point is toe arithmetic endpoint; first, the coordinates of the articulation points of the robot arm are solved, and the coordinates of B, C and D points are resolved by means of the normal solutions during installation process; then, a vector HI is acquired based on the coordinate of I point and the attitude angles Alpha, Beta, and Gamma, so the coordinate of H point can be deduced; next, the coordinate of F point is solved; finally, the turn angles Theta (i) of the articulation points can be resolved (wherein, I=1, 2, 3, 4, 5, 6). The inverse kinematical solution method in the invention has the advantages of avoiding building up the kinematical equation of the robot arm, greatly reducing the amount of calculation, quickening the operational speed, and solving all the solutions.