The serial manipulators deployed in most industries and otherwise, have six joints. Each of these has one relative degree-of-freedom (DOF). The first three joints are generally used for positioning, and the latter are used for orientation or rotation of the end-effector. Depending on the nature of these joints (prismatic or revolute), different manipulators may be utilized in scenarios depending on the nature of usage. For such applications, being able to obtain the inverse kinematics, as well as to visualize the forward kinematics becomes essential. Therefore, an attempt has been made in RoboAnalyzer, where the inverse kinematics of 6-axis serial manipulators with one prismatic joint as one of the first three joints has been implemented. A standard example of one such manipulator is the Stanford Arm in which the third joint is of prismatic nature. As the forward kinematics module in RoboAnalyzer already had generic architecture, the newly obtained results can be readily verified using the same.