When analyzing the inverse motion of the multi joint pump truck arm trajectory， the measurement process relies heavily on horizontal modal inference， and the movement angle of the pose points is prone to deviation， resulting in significant axial control deviation and reduced trajectory control accuracy. Therefore， a design and analysis of the inverse kinematics solution algorithm for the trajectory of multi joint pump truck arm based on robot operating system （ROS） architecture is proposed. The upper and lower limits of the motion trajectory of the pump truck arm was determined by changing the relationship between the orthogonal points， and the pose points within this interval were represented by mapping them to the orthogonal points. The operating space of the pose points were defined and the movement angle of the pose points was adjusted from both horizontal and vertical directions to avoid deviation， and the modal deduction of inverse motion was completed. ROS collaborative control mechanism was designed to calculate and adjust trajectory coordinates， and the optimal inverse kinematics solution of the multi joint pump truck arm trajectory that matches the modal inference results was drawn. The experimental results show that after applying the proposed method， when in both constrained and unconstrained states， the running trajectory and pose point positioning results accurately coincide， and the axial control deviation is relatively close to 0， with an error between 0.01 and 0.03 mm. The accuracy of the inverse kinematics solution is improved， and the trajectory control performance of the multi joint pump truck arm is enhanced.