This paper presents for the first time a complete kinematic analysis of 5250 Lab-Volt 5-Dof robot which include both forward kinematics and inverse kinematics for this robot arm. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The forward and inverse kinematics for any type of robots are very important in both trajectory planning and position control for the robot arm,the Denavit-Harbenterg (D-H) representation is used to model robot links and joints in this paper. The inverse kinematics have been solved using analytical solution and programmed using MATLAB to move the robot.