This document describes the development of a virtual software package to model and test the kinematics of a 5 degree of freedom robot lever arm using MATLAB. It discusses using the Denavit-Hartenberg convention to define the coordinate frames and transformations between frames. The forward and inverse kinematics of the robot arm are analyzed to determine the position and orientation of the end effector given the joint angles or to calculate the required joint angles to reach a desired end effector pose. MATLAB is used to model the kinematic link diagram and apply the homogeneous transformation matrices between frames to simulate the motion of the robot arm.