Jacobin matrix and its inverse are widely applied in kinematics and dynamics. The high effective recursive method can be used to compute velocity and static force when using spatial operator algebra theory to carry on the research of Jacobi matrix and its inverse. The DH parameters in chain systems were studied. It build the Jacobin matrix and its inverse software structure combined with the spatial operator algebra theory. The realization of the Jacobin matrix and its inverse based on Matlab@ symbolic toolbox were achieved. The effectiveness of the proposed method was verified by some examples.