Based on the establishment of six DOF welding robot DH coordinate system and the parameters of the arms, the forward kinematics and inverse kinematics equations are studied and its numerical simulation algorithm is designed and simulation model in MATLAB environment is also designed, and the control of each joint motor under the fixed control mode and fixed gravity compensation is also obtained. On the basis of the dynamic control equation of six DOF robot, the consideration of the characteristics of the motors and the dynamic characteristics of the robot arm are also obtained, and the optimization model of sensor feedback control is established. The four robot welding station in Tecnomatix environment is created, Using the Robotics function module provided, the path and function of the robot are realized. The Newton Euler inverse kinematics equations of the digital signal processor are used to solve the robot’s joint coordinate and to process the sensor feedback signal in realtime, and to realize the closedloop control of the multi servo system.