With the rapid advancement of technology, robotic arms have played a significant role in enhancing production efficiency. Considering the highly nonlinear and strongly coupled characteristics of the dynamic equations of loading and unloading robotic arms, this study proposes a trajectory tracking strategy based on inversion control. Firstly, to simplify the design of the controller, the complex robotic arm model is decoupled into two independent subsystems. Then, using the inversion control strategy, control laws are designed for these two subsystems separately. Simulation results verify that the control laws based on inversion control ensure system stability and accurately track the trajectory, achieving the expected dynamic performance requirements.