AbstractThe ability to mathematically model the movement of a robot manipulator is a prerequisite to the understanding of the key factors that influence a manipulator's performance. This paper presents a manipulator model which has been used to simulate and control a real robot arm. A method of describing the arm by its rotational characteristics. a set of equations called the “Inverse Arm” and an algorithm called the “Forward Arm” are presented. The Forward Arm simulates the movement of an arm and the Inverse Arm provides a means of computing the correct voltages to apply to an arm to achieve a desired movement.