It is well known that the solution of the inverse kinematics for robotic manipulator requires a lot of labor and time. In this paper, they propose a new method to automatically generate the closed form inverse kinematics solutions for most industrial robots efficiently. This method is based on the subdivision of rigid displacement into elementary subspaces which have invariant geometric properties. Using the invariant geometric properties of the elementary substructures, kinematic invariant relations are obtained, which are independent of the joint variables of the substructures. These relations generate the symbolic inverse kinematic solutions by computer algebra software Mathematica. Their program has successfully solved the inverse kinematics of more than ten typical industrial manipulators.