Inverse kinematics solutions for multi-DOF arms can be classified as analytical or numerical. In general, analytical solutions are preferable to numerical solutions because analytical ones yield complete solutions and are computationally fast and reliable. However, analytical closed-form solutions for inverse kinematics of 6-DOF arms rarely exist for real-time control purposes of fast moving arms. In this paper, we propose a fast inverse kinematics algorithm with a closed-form solution for a specific 6-DOF arm. The proposed algorithm is verified using simulation modules developed by us for demonstrations.